From 4b41a398e71d177661cc5127427448d55bab944e Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 16 Feb 2014 21:05:54 +0100 Subject: mc_pos_control: parameters descriptions added --- src/modules/mc_pos_control/mc_pos_control_params.c | 146 ++++++++++++++++++++- 1 file changed, 145 insertions(+), 1 deletion(-) (limited to 'src') diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 9eb56545d..0082a5e6a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -39,20 +39,164 @@ #include -PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f); +/** + * Minimum thrust + * + * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f); + +/** + * Maximum thrust + * + * Limit max allowed thrust. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); + +/** + * Proportional gain for vertical position error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); + +/** + * Proportional gain for vertical velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); + +/** + * Integral gain for vertical velocity error + * + * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); + +/** + * Differential gain for vertical velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); + +/** + * Maximum vertical velocity + * + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY). + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); + +/** + * Vertical velocity feed forward + * + * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); + +/** + * Proportional gain for horizontal position error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); + +/** + * Proportional gain for horizontal velocity error + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); + +/** + * Integral gain for horizontal velocity error + * + * Non-zero value allows to resist wind. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); + +/** + * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again. + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); + +/** + * Maximum horizontal velocity + * + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY). + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); + +/** + * Horizontal velocity feed forward + * + * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * + * @min 0.0 + * @max 1.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); + +/** + * Maximum tilt + * + * Limits maximum tilt in AUTO and EASY modes. + * + * @min 0.0 + * @max 1.57 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); + +/** + * Landing descend rate + * + * @min 0.0 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); + +/** + * Maximum landing tilt + * + * Limits maximum tilt on landing. + * + * @min 0.0 + * @max 1.57 + * @group Multicopter Position Control + */ PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f); -- cgit v1.2.3