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/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* 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, 0.2f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f);
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f);
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.5f);
PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
int parameters_init(struct multirotor_position_control_param_handles *h)
{
h->takeoff_alt = param_find("NAV_TAKEOFF_ALT");
h->takeoff_gap = param_find("NAV_TAKEOFF_GAP");
h->thr_min = param_find("MPC_THR_MIN");
h->thr_max = param_find("MPC_THR_MAX");
h->z_p = param_find("MPC_Z_P");
h->z_d = param_find("MPC_Z_D");
h->z_vel_p = param_find("MPC_Z_VEL_P");
h->z_vel_i = param_find("MPC_Z_VEL_I");
h->z_vel_d = param_find("MPC_Z_VEL_D");
h->z_vel_max = param_find("MPC_Z_VEL_MAX");
h->xy_p = param_find("MPC_XY_P");
h->xy_d = param_find("MPC_XY_D");
h->xy_vel_p = param_find("MPC_XY_VEL_P");
h->xy_vel_i = param_find("MPC_XY_VEL_I");
h->xy_vel_d = param_find("MPC_XY_VEL_D");
h->xy_vel_max = param_find("MPC_XY_VEL_MAX");
h->tilt_max = param_find("MPC_TILT_MAX");
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 multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p)
{
param_get(h->takeoff_alt, &(p->takeoff_alt));
param_get(h->takeoff_gap, &(p->takeoff_gap));
param_get(h->thr_min, &(p->thr_min));
param_get(h->thr_max, &(p->thr_max));
param_get(h->z_p, &(p->z_p));
param_get(h->z_d, &(p->z_d));
param_get(h->z_vel_p, &(p->z_vel_p));
param_get(h->z_vel_i, &(p->z_vel_i));
param_get(h->z_vel_d, &(p->z_vel_d));
param_get(h->z_vel_max, &(p->z_vel_max));
param_get(h->xy_p, &(p->xy_p));
param_get(h->xy_d, &(p->xy_d));
param_get(h->xy_vel_p, &(p->xy_vel_p));
param_get(h->xy_vel_i, &(p->xy_vel_i));
param_get(h->xy_vel_d, &(p->xy_vel_d));
param_get(h->xy_vel_max, &(p->xy_vel_max));
param_get(h->tilt_max, &(p->tilt_max));
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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