Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Added Stabilize_D parameter

This commit is contained in:
Jason Short 2011-12-29 10:25:39 -08:00
parent bb954bc479
commit f41835d546
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/Parameters.h
View File

@ -161,8 +161,9 @@ public:
k_param_waypoint_speed_max,
//
// 240: PI/D Controllers
// 235: PI/D Controllers
//
k_param_stablize_d = 234,
k_param_pi_rate_roll = 235,
k_param_pi_rate_pitch,
k_param_pi_rate_yaw,
@ -274,6 +275,7 @@ public:
AP_Float camera_pitch_gain;
AP_Float camera_roll_gain;
AP_Float stablize_d;
// PI/D controllers
APM_PI pi_rate_roll;
@ -391,6 +393,8 @@ public:
camera_pitch_gain (CAM_PITCH_GAIN, k_param_camera_pitch_gain, PSTR("CAM_P_G")),
camera_roll_gain (CAM_ROLL_GAIN, k_param_camera_roll_gain, PSTR("CAM_R_G")),
stablize_d (STABILIZE_D, k_param_stablize_d, PSTR("STAB_D")),
// PI controller group key name initial P initial I initial imax
//--------------------------------------------------------------------------------------------------------------------------------------------------------------------
pi_rate_roll (k_param_pi_rate_roll, PSTR("RATE_RLL_"), RATE_ROLL_P, RATE_ROLL_I, RATE_ROLL_IMAX * 100),