mirror of https://github.com/ArduPilot/ardupilot
ACM : Params - formatting cleanup
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@ -358,53 +358,53 @@ public:
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Parameters() :
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#if FRAME_CONFIG == HELI_FRAME
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heli_servo_1 (CH_1),
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heli_servo_2 (CH_2),
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heli_servo_3 (CH_3),
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heli_servo_4 (CH_4),
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heli_servo_1 (CH_1),
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heli_servo_2 (CH_2),
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heli_servo_3 (CH_3),
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heli_servo_4 (CH_4),
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#endif
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rc_1 (CH_1),
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rc_2 (CH_2),
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rc_3 (CH_3),
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rc_4 (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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rc_1 (CH_1),
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rc_2 (CH_2),
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rc_3 (CH_3),
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rc_4 (CH_4),
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rc_5 (CH_5),
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rc_6 (CH_6),
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rc_7 (CH_7),
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rc_8 (CH_8),
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#if MOUNT == ENABLED
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rc_10 (CH_10),
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rc_11 (CH_11),
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rc_10 (CH_10),
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rc_11 (CH_11),
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#endif
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// PID controller initial P initial I initial D
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// initial imax
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//-----------------------------------------------------------------------------------------------------
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
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pid_rate_roll (RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_D, RATE_ROLL_IMAX * 100),
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pid_rate_pitch (RATE_PITCH_P, RATE_PITCH_I, RATE_PITCH_D, RATE_PITCH_IMAX * 100),
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pid_rate_yaw (RATE_YAW_P, RATE_YAW_I, RATE_YAW_D, RATE_YAW_IMAX * 100),
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pid_loiter_rate_lat (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_loiter_rate_lon (LOITER_RATE_P, LOITER_RATE_I, LOITER_RATE_D, LOITER_RATE_IMAX * 100),
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lat (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_nav_lon (NAV_P, NAV_I, NAV_D, NAV_IMAX * 100),
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
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pid_throttle (THROTTLE_P, THROTTLE_I, THROTTLE_D, THROTTLE_IMAX),
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pid_optflow_roll (OPTFLOW_ROLL_P, OPTFLOW_ROLL_I, OPTFLOW_ROLL_D, OPTFLOW_IMAX * 100),
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pid_optflow_pitch (OPTFLOW_PITCH_P, OPTFLOW_PITCH_I, OPTFLOW_PITCH_D, OPTFLOW_IMAX * 100),
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// PI controller initial P initial I initial
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// imax
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//----------------------------------------------------------------------
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lat (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_loiter_lon (LOITER_P, LOITER_I, LOITER_IMAX * 100),
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pi_stabilize_roll (STABILIZE_ROLL_P, STABILIZE_ROLL_I, STABILIZE_ROLL_IMAX * 100),
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pi_stabilize_pitch (STABILIZE_PITCH_P, STABILIZE_PITCH_I, STABILIZE_PITCH_IMAX * 100),
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pi_stabilize_yaw (STABILIZE_YAW_P, STABILIZE_YAW_I, STABILIZE_YAW_IMAX * 100),
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
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pi_alt_hold (ALT_HOLD_P, ALT_HOLD_I, ALT_HOLD_IMAX)
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{
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}
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};
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