Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: support for upgrade to PID object

This commit is contained in:
Leonard Hall 2019-06-27 19:06:57 +09:30 committed by Randy Mackay
parent f128e93ec5
commit 34da437266
1 changed files with 9 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduPlane/quadplane.cpp
View File

@ -452,10 +452,10 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "Q_A_RAT_RLL_P", 0.25 },
{ "Q_A_RAT_RLL_I", 0.25 },
{ "Q_A_RAT_RLL_FILT", 10.0 },
{ "Q_A_RAT_RLL_FLTD", 10.0 },
{ "Q_A_RAT_PIT_P", 0.25 },
{ "Q_A_RAT_PIT_I", 0.25 },
{ "Q_A_RAT_PIT_FILT", 10.0 },
{ "Q_A_RAT_PIT_FLTD", 10.0 },
{ "Q_M_SPOOL_TIME", 0.25 },
{ "Q_M_HOVER_LEARN", 0 },
{ "Q_LOIT_ANG_MAX", 15.0 },
@ -495,12 +495,18 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_quadplane, 80, AP_PARAM_FLOAT, "Q_P_ACCZ_I"}, // Q_AZ_I
{ Parameters::k_param_quadplane, 144, AP_PARAM_FLOAT, "Q_P_ACCZ_D"}, // Q_AZ_D
{ Parameters::k_param_quadplane, 336, AP_PARAM_FLOAT, "Q_P_ACCZ_IMAX"}, // Q_AZ_IMAX
{ Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FILT"}, // Q_AZ_FILT
{ Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FLTD"}, // Q_AZ_FILT
{ Parameters::k_param_quadplane, 464, AP_PARAM_FLOAT, "Q_P_ACCZ_FF"}, // Q_AZ_FF
{ Parameters::k_param_quadplane, 276, AP_PARAM_FLOAT, "Q_LOIT_SPEED"}, // Q_WP_LOIT_SPEED
{ Parameters::k_param_quadplane, 468, AP_PARAM_FLOAT, "Q_LOIT_BRK_JERK" },// Q_WP_LOIT_JERK
{ Parameters::k_param_quadplane, 532, AP_PARAM_FLOAT, "Q_LOIT_ACC_MAX" }, // Q_WP_LOIT_MAXA
{ Parameters::k_param_quadplane, 596, AP_PARAM_FLOAT, "Q_LOIT_BRK_ACCEL" },// Q_WP_LOIT_MINA
{ Parameters::k_param_q_attitude_control, 385, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FLTD" },// Q_A_RAT_RLL_FILT
{ Parameters::k_param_q_attitude_control, 386, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FLTD" },// Q_A_RAT_PIT_FILT
{ Parameters::k_param_q_attitude_control, 387, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FLTE" },// Q_A_RAT_YAW_FILT
{ Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF
{ Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF
{ Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT
};