From 84310cf06977c0f38ba49e5bd68d46445ce25d7a Mon Sep 17 00:00:00 2001 From: Jason Short Date: Thu, 27 Oct 2011 11:52:00 -0700 Subject: [PATCH] Added Acro Params Allows user's to fly separate PI loops settings for Acro --- ArduCopter/Parameters.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h index e24a43ed47..98d1a7325d 100644 --- a/ArduCopter/Parameters.h +++ b/ArduCopter/Parameters.h @@ -156,7 +156,7 @@ public: // // 240: PI/D Controllers // - k_param_pi_rate_roll = 240, + k_param_pi_rate_roll = 235, k_param_pi_rate_pitch, k_param_pi_rate_yaw, k_param_pi_stabilize_roll, @@ -169,6 +169,8 @@ public: k_param_pi_alt_hold, k_param_pi_throttle, k_param_pi_crosstrack, + k_param_pi_acro_roll, + k_param_pi_acro_pitch, // 254,255: reserved @@ -286,6 +288,9 @@ public: APM_PI pi_throttle; APM_PI pi_crosstrack; + APM_PI pi_acro_roll; + APM_PI pi_acro_pitch; + uint8_t junk; // Note: keep initializers here in the same order as they are declared above. @@ -396,6 +401,9 @@ public: pi_throttle (k_param_pi_throttle, PSTR("THR_RATE_"), THROTTLE_P, THROTTLE_I, THROTTLE_IMAX), pi_crosstrack (k_param_pi_crosstrack, PSTR("XTRACK_"), XTRACK_P, XTRACK_I, XTRACK_IMAX), + pi_acro_roll (k_param_pi_acro_roll, PSTR("ACRO_RLL_"), ACRO_ROLL_P, ACRO_ROLL_I, ACRO_ROLL_IMAX * 100), + pi_acro_pitch (k_param_pi_acro_pitch, PSTR("ACRO_PIT_"), ACRO_PITCH_P, ACRO_PITCH_I, ACRO_PITCH_IMAX * 100), + junk(0) // XXX just so that we can add things without worrying about the trailing comma { }