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mc_pos_control_params: more gain & velocity decimals, more clear wording

This commit is contained in:
Matthias Grob 2023-06-22 15:24:00 +02:00
parent a6a913bf25
commit 439670444f
4 changed files with 13 additions and 12 deletions
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2
src/modules/mc_pos_control/multicopter_altitude_mode_params.c
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@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
* @min 0.0
* @max 5.0
* @decimal 2
* @increment 0.2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);

10
src/modules/mc_pos_control/multicopter_position_control_gain_params.c
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@ -38,7 +38,7 @@
*
* @min 0.1
* @max 1.5
* @decimal 1
* @decimal 2
* @increment 0.1
* @group Multicopter Position Control
*/
@ -51,7 +51,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.f);
*
* @min 0
* @max 2
* @decimal 1
* @decimal 2
* @increment 0.1
* @group Multicopter Position Control
*/
@ -64,7 +64,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
*
* @min 2
* @max 15
* @decimal 1
* @decimal 2
* @increment 0.1
* @group Multicopter Position Control
*/
@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.f);
*
* @min 1.2
* @max 5
* @decimal 1
* @decimal 2
* @increment 0.1
* @group Multicopter Position Control
*/
@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
*
* @min 0.2
* @max 3
* @decimal 1
* @decimal 2
* @increment 0.1
* @group Multicopter Position Control
*/

5
src/modules/mc_pos_control/multicopter_position_control_limits_params.c
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@ -40,7 +40,7 @@
* @unit m/s
* @min 0
* @max 20
* @decimal 0
* @decimal 1
* @increment 1
* @group Multicopter Position Control
*/
@ -79,7 +79,8 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.f);
* Minimum collective thrust in climb rate controlled modes
*
* Too low thrust leads to loss of roll/pitch/yaw torque control authority.
* Airmode is used to keep torque authority even with zero thrust (see MC_AIRMODE).
* With airmode enabled this parameters can be set to 0
* while still keeping torque authority (see MC_AIRMODE).
*
* @unit norm
* @min 0.05

8
src/modules/mc_pos_control/multicopter_position_mode_params.c
View File

@ -61,7 +61,7 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
* @min 3
* @max 20
* @increment 1
* @decimal 0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f);
@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f);
* @min -1
* @max 20
* @increment 1
* @decimal 0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
@ -91,7 +91,7 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
* @min -1
* @max 20
* @increment 1
* @decimal 0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
* MPC_POS_MODE
* 1 just deceleration
* 3 acceleration and deceleration
* 4 use MPC_ACC_HOR instead
* 4 not used, use MPC_ACC_HOR instead
*
* @unit m/s^2
* @min 2