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Merge remote-tracking branch 'upstream/mtecs' into mtecs_estimator

This commit is contained in:
Thomas Gubler 2014-06-13 23:39:09 +02:00
parent a419a2ebf3 195c4005e1
commit 3aed00d8d7
1 changed files with 7 additions and 7 deletions
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14
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
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@ -65,7 +65,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 1);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f);
/** /**
* Total Energy Rate Control P * Total Energy Rate Control P
@ -75,7 +75,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
/** /**
* Total Energy Rate Control I * Total Energy Rate Control I
@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f);
/** /**
* Total Energy Rate Control Offset (Cruise throttle sp) * Total Energy Rate Control Offset (Cruise throttle sp)
@ -104,7 +104,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f);
/** /**
* Energy Distribution Rate Control P * Energy Distribution Rate Control P
@ -182,7 +182,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
* @max 10.0f * @max 10.0f
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
/** /**
* D gain for the altitude control * D gain for the altitude control
@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
* @unit deg * @unit deg
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f);
/** /**
* Maximal flight path angle setpoint * Maximal flight path angle setpoint
@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f);
* @max 10.0f * @max 10.0f
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
/** /**
* D gain for the airspeed control * D gain for the airspeed control