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/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 flow_position_control_params.c
*/
#include "flow_position_control_params.h"
/* controller parameters */
// Position control P gain
PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
// Position control D / damping gain
PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
// Altitude control P gain
PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
// Altitude control I (integrator) gain
PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
// Altitude control D gain
PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
// Altitude control rate limiter
PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
// Altitude control minimum altitude
PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
// Altitude control maximum altitude (higher than 1.5m is untested)
PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
// Altitude control feed forward throttle - adjust to the
// throttle position (0..1) where the copter hovers in manual flight
PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);
PARAM_DEFINE_FLOAT(FPC_L_H_ERR, 0.1f);
PARAM_DEFINE_FLOAT(FPC_L_TH_I, 0.05f);
PARAM_DEFINE_FLOAT(FPC_L_TH_U, 0.8f);
PARAM_DEFINE_FLOAT(FPC_L_TH_L, 0.6f);
PARAM_DEFINE_FLOAT(FPC_L_YAW_STEP, 0.03f);
PARAM_DEFINE_FLOAT(FPC_MAN_THR, 0.1f);
int parameters_init(struct flow_position_control_param_handles *h)
{
/* PID parameters */
h->pos_p = param_find("FPC_POS_P");
h->pos_d = param_find("FPC_POS_D");
h->height_p = param_find("FPC_H_P");
h->height_i = param_find("FPC_H_I");
h->height_d = param_find("FPC_H_D");
h->height_rate = param_find("FPC_H_RATE");
h->height_min = param_find("FPC_H_MIN");
h->height_max = param_find("FPC_H_MAX");
h->thrust_feedforward = param_find("FPC_T_FFWD");
h->limit_speed_x = param_find("FPC_L_S_X");
h->limit_speed_y = param_find("FPC_L_S_Y");
h->limit_height_error = param_find("FPC_L_H_ERR");
h->limit_thrust_int = param_find("FPC_L_TH_I");
h->limit_thrust_upper = param_find("FPC_L_TH_U");
h->limit_thrust_lower = param_find("FPC_L_TH_L");
h->limit_yaw_step = param_find("FPC_L_YAW_STEP");
h->manual_threshold = param_find("FPC_MAN_THR");
h->rc_scale_pitch = param_find("RC_SCALE_PITCH");
h->rc_scale_roll = param_find("RC_SCALE_ROLL");
h->rc_scale_yaw = param_find("RC_SCALE_YAW");
return OK;
}
int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p)
{
param_get(h->pos_p, &(p->pos_p));
param_get(h->pos_d, &(p->pos_d));
param_get(h->height_p, &(p->height_p));
param_get(h->height_i, &(p->height_i));
param_get(h->height_d, &(p->height_d));
param_get(h->height_rate, &(p->height_rate));
param_get(h->height_min, &(p->height_min));
param_get(h->height_max, &(p->height_max));
param_get(h->thrust_feedforward, &(p->thrust_feedforward));
param_get(h->limit_speed_x, &(p->limit_speed_x));
param_get(h->limit_speed_y, &(p->limit_speed_y));
param_get(h->limit_height_error, &(p->limit_height_error));
param_get(h->limit_thrust_int, &(p->limit_thrust_int));
param_get(h->limit_thrust_upper, &(p->limit_thrust_upper));
param_get(h->limit_thrust_lower, &(p->limit_thrust_lower));
param_get(h->limit_yaw_step, &(p->limit_yaw_step));
param_get(h->manual_threshold, &(p->manual_threshold));
param_get(h->rc_scale_pitch, &(p->rc_scale_pitch));
param_get(h->rc_scale_roll, &(p->rc_scale_roll));
param_get(h->rc_scale_yaw, &(p->rc_scale_yaw));
return OK;
}
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