From 20c9ce9d6dc119547bc81b9034cebc69a364b565 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Thu, 26 Dec 2013 23:03:19 +0400
Subject: mc_pos_control: replacement for multirotor_pos_control, rewritten to
 C++ and new mathlib

---
 src/modules/mc_pos_control/mc_pos_control_params.c | 25 ++++++++++++++++++++++
 1 file changed, 25 insertions(+)
 create mode 100644 src/modules/mc_pos_control/mc_pos_control_params.c

(limited to 'src/modules/mc_pos_control/mc_pos_control_params.c')

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
new file mode 100644
index 000000000..2fe70698f
--- /dev/null
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -0,0 +1,25 @@
+/*
+ * mc_pos_control_params.c
+ *
+ *  Created on: 26.12.2013
+ *      Author: ton
+ */
+
+#include <systemlib/param/param.h>
+
+/* multicopter position controller parameters */
+PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
+PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.05f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
+PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
+PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.01f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
+PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
+PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
-- 
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