mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.3 KiB
C
57 lines
1.3 KiB
C
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/*
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* mikrokopter.h
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*
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* Created on: Apr 6, 2011
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* Author: nkgentry
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*/
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#ifndef MIKROKOPTER_H_
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#define MIKROKOPTER_H_
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#define VEHICLE_MIKROKOPTER
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//motor parameters
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#define MOTOR_MAX 1
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#define MOTOR_MIN 0.1
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// position control loop
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#define PID_POS_INTERVAL 1/5 // 5 hz
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#define PID_POS_P 0.02
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#define PID_POS_I 0
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#define PID_POS_D 0.1
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#define PID_POS_LIM 0.1 // about 5 deg
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#define PID_POS_AWU 0.0 // about 5 deg
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#define PID_POS_Z_P 0.5
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#define PID_POS_Z_I 0.2
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#define PID_POS_Z_D 0.5
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#define PID_POS_Z_LIM 0.5
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#define PID_POS_Z_AWU 0.1
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// attitude control loop
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#define PID_ATT_INTERVAL 1/20 // 20 hz
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#define PID_ATT_P 0.03 // 0.1
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#define PID_ATT_I 0.03 // 0.0
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#define PID_ATT_D 0.03 // 0.1
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#define PID_ATT_LIM 0.1 // 0.01 // 10 % #define MOTORs
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#define PID_ATT_AWU 0.1 // 0.0
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#define PID_YAWPOS_P 1
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#define PID_YAWPOS_I 0.1
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#define PID_YAWPOS_D 0
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#define PID_YAWPOS_LIM 1 // 1 rad/s
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#define PID_YAWPOS_AWU 1 // 1 rad/s
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#define PID_YAWSPEED_P 1
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#define PID_YAWSPEED_I 0
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#define PID_YAWSPEED_D 0.5
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#define PID_YAWSPEED_LIM 0.1 // 0.01 // 10 % #define MOTORs
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#define PID_YAWSPEED_AWU 0.0
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// mixing
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#define MIX_REMOTE_WEIGHT 1
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#define MIX_POSITION_WEIGHT 1
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#define MIX_POSITION_Z_WEIGHT 1
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#define MIX_POSITION_YAW_WEIGHT 1
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#define THRUST_HOVER_OFFSET 0.475
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#endif /* MIKROKOPTER_H_ */
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