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added stab_d gain scheduling

This commit is contained in:
Jason Short 2012-02-28 20:13:36 -08:00
parent efdf6ee79f
commit b76c4ecb22
1 changed files with 3 additions and 0 deletions
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3
ArduCopter/Parameters.h
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@ -171,6 +171,7 @@ public:
// //
// 220: PI/D Controllers // 220: PI/D Controllers
// //
k_param_stabilize_d_schedule = 219,
k_param_stabilize_d = 220, k_param_stabilize_d = 220,
k_param_acro_p, k_param_acro_p,
k_param_axis_lock_p, k_param_axis_lock_p,
@ -296,6 +297,7 @@ public:
AP_Float camera_pitch_gain; AP_Float camera_pitch_gain;
AP_Float camera_roll_gain; AP_Float camera_roll_gain;
AP_Float stabilize_d; AP_Float stabilize_d;
AP_Float stabilize_d_schedule;
// PI/D controllers // PI/D controllers
AP_Float acro_p; AP_Float acro_p;
@ -402,6 +404,7 @@ public:
camera_pitch_gain (CAM_PITCH_GAIN), camera_pitch_gain (CAM_PITCH_GAIN),
camera_roll_gain (CAM_ROLL_GAIN), camera_roll_gain (CAM_ROLL_GAIN),
stabilize_d (STABILIZE_D), stabilize_d (STABILIZE_D),
stabilize_d_schedule (STABILIZE_D_SCHEDULE),
acro_p (ACRO_P), acro_p (ACRO_P),
axis_lock_p (AXIS_LOCK_P), axis_lock_p (AXIS_LOCK_P),