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Added Acro Params 

Allows user's to fly separate PI loops settings for Acro
This commit is contained in:
Jason Short 2011-10-27 11:52:00 -07:00
parent 171f43def0
commit 84310cf069
1 changed files with 9 additions and 1 deletions
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10
ArduCopter/Parameters.h
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@ -156,7 +156,7 @@ public:
// //
// 240: PI/D Controllers // 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_pitch,
k_param_pi_rate_yaw, k_param_pi_rate_yaw,
k_param_pi_stabilize_roll, k_param_pi_stabilize_roll,
@ -169,6 +169,8 @@ public:
k_param_pi_alt_hold, k_param_pi_alt_hold,
k_param_pi_throttle, k_param_pi_throttle,
k_param_pi_crosstrack, k_param_pi_crosstrack,
k_param_pi_acro_roll,
k_param_pi_acro_pitch,
// 254,255: reserved // 254,255: reserved
@ -286,6 +288,9 @@ public:
APM_PI pi_throttle; APM_PI pi_throttle;
APM_PI pi_crosstrack; APM_PI pi_crosstrack;
APM_PI pi_acro_roll;
APM_PI pi_acro_pitch;
uint8_t junk; uint8_t junk;
// Note: keep initializers here in the same order as they are declared above. // 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_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_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 junk(0) // XXX just so that we can add things without worrying about the trailing comma
{ {
} }