From e0685f4408f94e29645d18812e3071e91b6649bb Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 3 Jul 2012 14:14:46 +1000 Subject: [PATCH] AHRS: make P gain on PI roll/pitch controller tunable this is to make it easier for Craig and Alan to tune --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 1 + libraries/AP_AHRS/AP_AHRS_DCM.h | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index f5028db50f..cfffdc97b5 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -37,6 +37,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = { // @Range: 0 .4 // @Increment: .01 AP_GROUPINFO("YAW_P", 0, AP_AHRS_DCM, _kp_yaw), + AP_GROUPINFO("RP_P", 1, AP_AHRS_DCM, _kp), AP_GROUPEND }; diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h index 5ab05949ae..bd95d3c27f 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.h +++ b/libraries/AP_AHRS/AP_AHRS_DCM.h @@ -23,7 +23,7 @@ public: _ki = 0.0087; _ki_yaw = 0.01; - _kp = 0.4; + _kp.set(0.4); _kp_yaw.set(0.4); } @@ -44,9 +44,9 @@ public: // settable parameters AP_Float _kp_yaw; + AP_Float _kp; private: - float _kp; float _ki; float _ki_yaw; bool _have_initial_yaw;