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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Tobias Naegeli <naegelit@student.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 multirotor_pos_control_params.c
*
* Parameters for multirotor_pos_control
*/
#include "multirotor_pos_control_params.h"
/* controller parameters */
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.3f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.7f);
PARAM_DEFINE_FLOAT(MPC_ALT_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_ALT_I, 0.1f);
PARAM_DEFINE_FLOAT(MPC_ALT_D, 0.1f);
PARAM_DEFINE_FLOAT(MPC_ALT_RATE_MAX, 3.0f);
PARAM_DEFINE_FLOAT(MPC_POS_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_POS_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_POS_D, 0.2f);
PARAM_DEFINE_FLOAT(MPC_POS_RATE_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.5f);
int parameters_init(struct multirotor_position_control_param_handles *h)
{
h->thr_min = param_find("MPC_THR_MIN");
h->thr_max = param_find("MPC_THR_MAX");
h->alt_p = param_find("MPC_ALT_P");
h->alt_i = param_find("MPC_ALT_I");
h->alt_d = param_find("MPC_ALT_D");
h->alt_rate_max = param_find("MPC_ALT_RATE_MAX");
h->pos_p = param_find("MPC_POS_P");
h->pos_i = param_find("MPC_POS_I");
h->pos_d = param_find("MPC_POS_D");
h->pos_rate_max = param_find("MPC_POS_RATE_MAX");
h->slope_max = param_find("MPC_SLOPE_MAX");
return OK;
}
int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
{
param_get(h->thr_min, &(p->thr_min));
param_get(h->thr_max, &(p->thr_max));
param_get(h->alt_p, &(p->alt_p));
param_get(h->alt_i, &(p->alt_i));
param_get(h->alt_d, &(p->alt_d));
param_get(h->alt_rate_max, &(p->alt_rate_max));
param_get(h->pos_p, &(p->pos_p));
param_get(h->pos_i, &(p->pos_i));
param_get(h->pos_d, &(p->pos_d));
param_get(h->pos_rate_max, &(p->pos_rate_max));
param_get(h->slope_max, &(p->slope_max));
return OK;
}
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