From 282e0bb6703e6f013eee690bda97e09045837fd3 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 31 Jan 2014 11:35:11 +0100 Subject: mc_att_control: separate gains for roll and pitch --- src/modules/mc_att_control/mc_att_control_params.c | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) (limited to 'src/modules/mc_att_control/mc_att_control_params.c') diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 0a89c3f4e..27a45b6bb 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -41,13 +41,15 @@ #include -PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f); -PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f); +PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f); +PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f); PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f); -PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f); PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); -- cgit v1.2.3