From 5876ff11ec90ca8dee22ee0509ffaec2b561d2fd Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Jan 2015 16:12:15 +0100 Subject: mc att control multiplatform alongside normal mc att control --- .../mc_att_control_params.c | 248 +++++++++++++++++++++ 1 file changed, 248 insertions(+) create mode 100644 src/modules/mc_att_control_multiplatform/mc_att_control_params.c (limited to 'src/modules/mc_att_control_multiplatform/mc_att_control_params.c') diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_params.c b/src/modules/mc_att_control_multiplatform/mc_att_control_params.c new file mode 100644 index 000000000..a0b1706f2 --- /dev/null +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_params.c @@ -0,0 +1,248 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * 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 mc_att_control_params.c + * Parameters for multicopter attitude controller. + * + * @author Tobias Naegeli + * @author Lorenz Meier + * @author Anton Babushkin + */ + +#include +#include "mc_att_control_params.h" +#include + +/** + * Roll P gain + * + * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P); + +/** + * Roll rate P gain + * + * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P); + +/** + * Roll rate I gain + * + * Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I); + +/** + * Roll rate D gain + * + * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D); + +/** + * Pitch P gain + * + * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @unit 1/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P); + +/** + * Pitch rate P gain + * + * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P); + +/** + * Pitch rate I gain + * + * Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I); + +/** + * Pitch rate D gain + * + * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D); + +/** + * Yaw P gain + * + * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad. + * + * @unit 1/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAW_P); + +/** + * Yaw rate P gain + * + * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P); + +/** + * Yaw rate I gain + * + * Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I); + +/** + * Yaw rate D gain + * + * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D); + +/** + * Yaw feed forward + * + * Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF); + +/** + * Max yaw rate + * + * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX); + +/** + * Max manual roll + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX); + +/** + * Max manual pitch + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX); + +/** + * Max manual yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX); + +/** + * Max acro roll rate + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX); + +/** + * Max acro pitch rate + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX); + +/** + * Max acro yaw rate + * + * @unit deg/s + * @min 0.0 + * @group Multicopter Attitude Control + */ +PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX); -- cgit v1.2.3