From 6ea204c8136a3e4c81e2e542e56a865c57f381e7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 12 May 2013 20:08:09 +0200 Subject: Added fixed wing controller example --- src/examples/fixedwing_control/params.c | 77 +++++++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 src/examples/fixedwing_control/params.c (limited to 'src/examples/fixedwing_control/params.c') diff --git a/src/examples/fixedwing_control/params.c b/src/examples/fixedwing_control/params.c new file mode 100644 index 000000000..8042c74f5 --- /dev/null +++ b/src/examples/fixedwing_control/params.c @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file params.c + * + * Parameters for fixedwing demo + */ + +#include "params.h" + +/* controller parameters, use max. 15 characters for param name! */ + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f); + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_ROLL_P, 0.2f); + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_PITCH_P, 0.2f); + +int parameters_init(struct param_handles *h) +{ + /* PID parameters */ + h->hdng_p = param_find("EXFW_HDNG_P"); + h->roll_p = param_find("EXFW_ROLL_P"); + h->pitch_p = param_find("EXFW_PITCH_P"); + + return OK; +} + +int parameters_update(const struct param_handles *h, struct params *p) +{ + param_get(h->hdng_p, &(p->hdng_p)); + param_get(h->roll_p, &(p->roll_p)); + param_get(h->pitch_p, &(p->pitch_p)); + + return OK; +} -- cgit v1.2.3