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AC_AttControl: tradheli add RATE_RP_MAX

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Randy Mackay 2014-02-02 16:57:19 +09:00 committed by Andrew Tridgell
parent 2dae0d68c5
commit 959f5ec3b2
1 changed files with 17 additions and 8 deletions
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25
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -8,12 +8,21 @@ extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
// @Param: DUMMY
// @DisplayName: Dummy parameter
// @Description: This is the dummy parameters
// @Increment: 0.1
// @User: User
AP_GROUPINFO("DUMMY", 0, AC_AttitudeControl_Heli, _dummy_param, 0),
// @Param: RATE_RP_MAX
// @DisplayName: Angle Rate Roll-Pitch max
// @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// @Range: 90000 250000
// @Increment: 500
// @User: Advanced
AP_GROUPINFO("RATE_RP_MAX", 0, AC_AttitudeControl_Heli, _angle_rate_rp_max, AC_ATTITUDE_CONTROL_ANGLE_RATE_RP_MAX_DEFAULT),
// @Param: RATE_Y_MAX
// @DisplayName: Angle Rate Yaw max
// @Description: maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
// @Range: 90000 250000
// @Increment: 500
// @User: Advanced
AP_GROUPINFO("RATE_Y_MAX", 1, AC_AttitudeControl_Heli, _angle_rate_y_max, AC_ATTITUDE_CONTROL_ANGLE_RATE_Y_MAX_DEFAULT),
// @Param: RATE_RLL_FF
// @DisplayName: Rate Roll Feed Forward
@ -21,7 +30,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
AP_GROUPINFO("RATE_RLL_FF", 1, AC_AttitudeControl_Heli, _heli_roll_ff, AC_ATTITUDE_HELI_ROLL_FF),
AP_GROUPINFO("RATE_RLL_FF", 2, AC_AttitudeControl_Heli, _heli_roll_ff, AC_ATTITUDE_HELI_ROLL_FF),
// @Param: RATE_PIT_FF
// @DisplayName: Rate Pitch Feed Forward
@ -29,7 +38,7 @@ const AP_Param::GroupInfo AC_AttitudeControl_Heli::var_info[] PROGMEM = {
// @Range: 0 10
// @Increment: 0.01
// @User: Standard
AP_GROUPINFO("RATE_PIT_FF", 2, AC_AttitudeControl_Heli, _heli_pitch_ff, AC_ATTITUDE_HELI_ROLL_FF),
AP_GROUPINFO("RATE_PIT_FF", 3, AC_AttitudeControl_Heli, _heli_pitch_ff, AC_ATTITUDE_HELI_ROLL_FF),
// @Param: RATE_YAW_FF
// @DisplayName: Rate Yaw Feed Forward