ardupilot/libraries/APO/mikrokopter.h

57 lines
1.3 KiB
C

/*
* mikrokopter.h
*
* Created on: Apr 6, 2011
* Author: nkgentry
*/
#ifndef MIKROKOPTER_H_
#define MIKROKOPTER_H_
#define VEHICLE_MIKROKOPTER
//motor parameters
#define MOTOR_MAX 1
#define MOTOR_MIN 0.1
// position control loop
#define PID_POS_INTERVAL 1/5 // 5 hz
#define PID_POS_P 0.02
#define PID_POS_I 0
#define PID_POS_D 0.1
#define PID_POS_LIM 0.1 // about 5 deg
#define PID_POS_AWU 0.0 // about 5 deg
#define PID_POS_Z_P 0.5
#define PID_POS_Z_I 0.2
#define PID_POS_Z_D 0.5
#define PID_POS_Z_LIM 0.5
#define PID_POS_Z_AWU 0.1
// attitude control loop
#define PID_ATT_INTERVAL 1/20 // 20 hz
#define PID_ATT_P 0.03 // 0.1
#define PID_ATT_I 0.03 // 0.0
#define PID_ATT_D 0.03 // 0.1
#define PID_ATT_LIM 0.1 // 0.01 // 10 % #define MOTORs
#define PID_ATT_AWU 0.1 // 0.0
#define PID_YAWPOS_P 1
#define PID_YAWPOS_I 0.1
#define PID_YAWPOS_D 0
#define PID_YAWPOS_LIM 1 // 1 rad/s
#define PID_YAWPOS_AWU 1 // 1 rad/s
#define PID_YAWSPEED_P 1
#define PID_YAWSPEED_I 0
#define PID_YAWSPEED_D 0.5
#define PID_YAWSPEED_LIM 0.1 // 0.01 // 10 % #define MOTORs
#define PID_YAWSPEED_AWU 0.0
// mixing
#define MIX_REMOTE_WEIGHT 1
#define MIX_POSITION_WEIGHT 1
#define MIX_POSITION_Z_WEIGHT 1
#define MIX_POSITION_YAW_WEIGHT 1
#define THRUST_HOVER_OFFSET 0.475
#endif /* MIKROKOPTER_H_ */