path: root/src/modules/mc_pos_control/mc_pos_control_params.c

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 *
 *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
 *   Author: @author Anton Babushkin <anton.babushkin@me.com>
 *
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/**
 * @file mc_pos_control_params.c
 * Multicopter position controller parameters.
 *
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <systemlib/param/param.h>

/**
 * Allowed landing speed
 *
 * @min max unlimited
 * @group Multicopter Position Control
 * */
PARAM_DEFINE_FLOAT(MPC_ALLOWED_LAND, 5.0f);

/**
 * 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 (ALTCTRL, POSCTRL).
 *
 * @unit m/s
 * @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 (ALTCTRL, POSCTRL). 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 (POSCTRL).
 *
 * @unit m/s
 * @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 (POSCTRL). 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 angle in air
 *
 * Limits maximum tilt in AUTO and POSCTRL modes during flight.
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);

/**
 * Maximum tilt during landing
 *
 * Limits maximum tilt angle on landing.
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);

/**
 * Landing descend rate
 *
 * @unit m/s
 * @min 0.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_LAND_SPD, 1.0f);

/**
 * Takeoff ascend rate
 *
 * @unit m/s
 * @min 0.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_TAKEOFF_SPD, 1.0f);

/**
 * Follow mode velocity feed-forward
 *
 * Target velocity feed-forward in follow mode.
 *
 * @min 0.0
 * @max 1.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(FOL_VEL_FF, 1.0f);

/**
 * Follow mode initial altitude offset
 *
 * Altitude offset (target_alt - copter_alt) on copter arming, for altitude estimates synchronization.
 *
 * @unit meters
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(FOL_TALT_OFF, 0.0f);

/**
 * Follow mode max yaw offset
 *
 * Maximum yaw offset in FOLLOW mode that can be set by stick.
 *
 * @unit deg
 * @min 0.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(FOL_YAW_OFF_MAX, 45.0f);

/**
 * Use altitude of target
 *
 * 0 (disabled): ignore altitude reported by target, assuming that altitude is constant, home_alt + FOL_ALT_OFF.
 * 1 (enabled): use altitude reported by target to control camera pitch and (if FOL_RPT_ALT == 1) own altitude.
 *
 * @min 0
 * @max 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_INT32(FOL_USE_ALT, 1);

/**
 * Repeat target altitude
 *
 * 0 (disabled): hold constant altitude.
 * 1 (enabled): repeat target altitude changes, i.e. hold constant altitude difference.
 *
 * @min 0
 * @max 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_INT32(FOL_RPT_ALT, 0);

/**
 * Low pass filter for target velocity
 *
 * Time constant for low pass filter to smooth velocity jumps for aggressive targets.
 *
 * @unit s
 * @min 0.0
 * @max 10.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(FOL_LPF, 1.0f);

/**
 * Maximum camera pitch
 *
 * Camera pitch (degrees) for control signal of 1 (assuming that camera pitch is 0 when control signal is 0).
 *
 * @unit deg
 * @min 0.0
 * @max 180.0
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(CAM_P_MAX, 90.0f);