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MC rate control: let the user set P gain to 1 to use K instead 

To tune the PID controller using the standard/ideal form, one needs to set the P gain to 1.
This commit is contained in:
bresch 2023-11-13 11:22:18 +01:00
parent 84577ce2c2
commit 42bcc3d088
1 changed files with 3 additions and 3 deletions
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6
src/modules/mc_rate_control/mc_rate_control_params.c
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@ -43,7 +43,7 @@
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
* *
* @min 0.01 * @min 0.01
* @max 0.5 * @max 1.0
* @decimal 3 * @decimal 3
* @increment 0.01 * @increment 0.01
* @group Multicopter Rate Control * @group Multicopter Rate Control
@ -124,7 +124,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f);
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
* *
* @min 0.01 * @min 0.01
* @max 0.6 * @max 1.0
* @decimal 3 * @decimal 3
* @increment 0.01 * @increment 0.01
* @group Multicopter Rate Control * @group Multicopter Rate Control
@ -204,7 +204,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_K, 1.0f);
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s. * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
* *
* @min 0.0 * @min 0.0
* @max 0.6 * @max 1.0
* @decimal 2 * @decimal 2
* @increment 0.01 * @increment 0.01
* @group Multicopter Rate Control * @group Multicopter Rate Control