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Converted distance gains to CM

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added loiter_d for rate control, equal to old Nav_P gain
This commit is contained in:
Jason Short 2012-01-21 22:13:57 -08:00
parent e1f7fa34ea
commit 7616c3b5a1
1 changed files with 8 additions and 6 deletions
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14
ArduCopter/Parameters.h
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@ -107,7 +107,7 @@ public:
k_param_optflow_enabled,
k_param_low_voltage,
k_param_ch7_option,
k_param_sonar_type,
k_param_sonar_type,
k_param_super_simple, //155
//
@ -167,7 +167,7 @@ public:
//
// 235: PI/D Controllers
//
k_param_stablize_d = 234,
k_param_stabilize_d = 234,
k_param_pi_rate_roll = 235,
k_param_pi_rate_pitch,
k_param_pi_rate_yaw,
@ -184,7 +184,7 @@ public:
k_param_pi_acro_pitch,
k_param_pi_optflow_roll,
k_param_pi_optflow_pitch, // 250
k_param_loiter_d,
// 254,255: reserved
};
@ -286,6 +286,7 @@ public:
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Float stablize_d;
AP_Float loiter_d;
// PI/D controllers
APM_PI pi_rate_roll;
@ -341,10 +342,10 @@ public:
command_total (0, k_param_command_total, PSTR("WP_TOTAL")),
command_index (0, k_param_command_index, PSTR("WP_INDEX")),
command_nav_index (0, k_param_command_nav_index, PSTR("WP_MUST_INDEX")),
waypoint_radius (WP_RADIUS_DEFAULT, k_param_waypoint_radius, PSTR("WP_RADIUS")),
waypoint_radius (WP_RADIUS_DEFAULT * 100, k_param_waypoint_radius, PSTR("WP_RADIUS")),
loiter_radius (LOITER_RADIUS, k_param_loiter_radius, PSTR("WP_LOITER_RAD")),
waypoint_speed_max (WAYPOINT_SPEED_MAX, k_param_waypoint_speed_max, PSTR("WP_SPEED_MAX")),
crosstrack_gain (CROSSTRACK_GAIN * 100, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
crosstrack_gain (CROSSTRACK_GAIN, k_param_crosstrack_gain, PSTR("XTRK_GAIN_SC")),
auto_land_timeout (AUTO_LAND_TIME * 1000, k_param_auto_land_timeout, PSTR("AUTO_LAND")),
throttle_min (0, k_param_throttle_min, PSTR("THR_MIN")),
@ -409,7 +410,8 @@ public:
camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")),
camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")),
stablize_d (STABILIZE_D, k_param_stablize_d, PSTR("STAB_D")),
stablize_d (STABILIZE_D, k_param_stabilize_d, PSTR("STAB_D")),
loiter_d (LOITER_D, k_param_loiter_d, PSTR("LOITER_D")),
// PI controller group key name initial P initial I initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------