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commander: Add new params for home initialization.

This commit is contained in:
Lorenz Meier 2015-07-10 09:50:36 +02:00
parent 396db730a6
commit 4465c029f5
1 changed files with 70 additions and 6 deletions
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76
src/modules/commander/commander_params.c
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,16 +36,54 @@
*
* Parameters defined by the sensors task.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@px4.io>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/**
* Roll trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
/**
* Pitch trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
/**
* Yaw trim
*
* The trim value is the actuator control value the system needs
* for straight and level flight. It can be calibrated by
* flying manually straight and level using the RC trims and
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
*/
PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
/**
@ -77,6 +114,7 @@ PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
*
* @group Battery Calibration
* @unit V
* @min 0.0f
*/
PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
@ -87,6 +125,8 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.07f);
*
* @group Battery Calibration
* @unit S
* @min 1
* @max 10
*/
PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
@ -182,7 +222,31 @@ PARAM_DEFINE_FLOAT(COM_EF_TIME, 10.0f);
* @min 0
* @max 35
*/
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5);
PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
/**
* Home set horizontal threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit meter
* @min 2
* @max 15
*/
PARAM_DEFINE_FLOAT(COM_HOME_H_T, 5.0f);
/**
* Home set vertical threshold
*
* The home position will be set if the estimated positioning accuracy is below the threshold.
*
* @group Commander
* @unit meter
* @min 5
* @max 25
*/
PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
/**
* Autosaving of params