From 45a5f2aaa40032afaa389eb5799f59fdae2f0740 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 4 May 2016 22:49:36 +0200
Subject: [PATCH] MC vel control: Better defaults, better min and max gains

---
 .../mc_pos_control/mc_pos_control_params.c    | 36 ++++++++++++++-----
 1 file changed, 27 insertions(+), 9 deletions(-)

diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c
index b726dd4444..9f6fafa6a6 100644
--- a/src/modules/mc_pos_control/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control/mc_pos_control_params.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2016 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
@@ -110,6 +110,7 @@ PARAM_DEFINE_FLOAT(MPC_ALTCTL_DY, 0.0f);
  * @min 0.0
  * @max 0.95
  * @decimal 2
+ * @increment 0.01
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
@@ -123,6 +124,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
  * @min 0.0
  * @max 1.0
  * @decimal 2
+ * @increment 0.01
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
@@ -139,6 +141,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
  * @min 0.0
  * @max 1.0
  * @decimal 2
+ * @increment 0.01
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
@@ -147,6 +150,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
  * Proportional gain for vertical position error
  *
  * @min 0.0
+ * @max 1.5
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -155,7 +159,8 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
 /**
  * Proportional gain for vertical velocity error
  *
- * @min 0.0
+ * @min 0.1
+ * @max 0.4
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -166,7 +171,8 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f);
  *
  * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
  *
- * @min 0.0
+ * @min 0.01
+ * @max 0.1
  * @decimal 3
  * @group Multicopter Position Control
  */
@@ -176,6 +182,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
  * Differential gain for vertical velocity error
  *
  * @min 0.0
+ * @max 0.1
  * @decimal 3
  * @group Multicopter Position Control
  */
@@ -210,6 +217,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
  * Proportional gain for horizontal position error
  *
  * @min 0.0
+ * @max 2.0
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -218,11 +226,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.25f);
 /**
  * Proportional gain for horizontal velocity error
  *
- * @min 0.0
+ * @min 0.06
+ * @max 0.15
  * @decimal 2
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);
+PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.09f);
 
 /**
  * Integral gain for horizontal velocity error
@@ -230,6 +239,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.065f);
  * Non-zero value allows to resist wind.
  *
  * @min 0.0
+ * @max 0.1
  * @decimal 3
  * @group Multicopter Position Control
  */
@@ -238,7 +248,8 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
 /**
  * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
  *
- * @min 0.0
+ * @min 0.005
+ * @max 0.1
  * @decimal 3
  * @group Multicopter Position Control
  */
@@ -252,7 +263,9 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
  * position stabilized mode (POSCTRL).
  *
  * @unit m/s
- * @min 0.0
+ * @min 3.0
+ * @max 20.0
+ * @increment 1
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -315,7 +328,7 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
  * Landing descend rate
  *
  * @unit m/s
- * @min 0.0
+ * @min 0.2
  * @decimal 1
  * @group Multicopter Position Control
  */
@@ -325,7 +338,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f);
  * Takeoff climb rate
  *
  * @unit m/s
- * @min 0.0
+ * @min 1
+ * @max 5
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -358,6 +372,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
  *
  * @unit deg/s
  * @min 0.0
+ * @max 400
  * @decimal 1
  * @group Multicopter Position Control
  */
@@ -378,6 +393,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
  *
  * @unit m/s
  * @min 0.0
+ * @max 3.0
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -388,6 +404,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
  *
  * @unit m/s
  * @min 0.0
+ * @max 3.0
  * @decimal 2
  * @group Multicopter Position Control
  */
@@ -398,6 +415,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);
  *
  * @unit Hz
  * @min 0.0
+ * @max 10
  * @decimal 2
  * @group Multicopter Position Control
  */