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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.h
*
* Parameters for position controller
*/
#include <systemlib/param/param.h>
struct flow_position_control_params {
float pos_p;
float pos_d;
float height_p;
float height_i;
float height_d;
float height_rate;
float height_min;
float height_max;
float thrust_feedforward;
float limit_speed_x;
float limit_speed_y;
float limit_height_error;
float limit_thrust_int;
float limit_thrust_upper;
float limit_thrust_lower;
float limit_yaw_step;
float manual_threshold;
float rc_scale_pitch;
float rc_scale_roll;
float rc_scale_yaw;
};
struct flow_position_control_param_handles {
param_t pos_p;
param_t pos_d;
param_t height_p;
param_t height_i;
param_t height_d;
param_t height_rate;
param_t height_min;
param_t height_max;
param_t thrust_feedforward;
param_t limit_speed_x;
param_t limit_speed_y;
param_t limit_height_error;
param_t limit_thrust_int;
param_t limit_thrust_upper;
param_t limit_thrust_lower;
param_t limit_yaw_step;
param_t manual_threshold;
param_t rc_scale_pitch;
param_t rc_scale_roll;
param_t rc_scale_yaw;
};
/**
* Initialize all parameter handles and values
*
*/
int parameters_init(struct flow_position_control_param_handles *h);
/**
* Update all parameters
*
*/
int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
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