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px4-firmware
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Added param comments for FWB controller.

This commit is contained in:
James Goppert 2013-01-14 17:15:43 -05:00
parent c49320a03e
commit 4613d1247d
1 changed files with 18 additions and 18 deletions
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36
apps/examples/control_demo/params.c
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@ -24,40 +24,40 @@ PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.5f); // roll limit, 28 deg
// velocity -> theta
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f);
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f);
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f);
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.1f); // velocity to pitch angle PID, prop gain
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle
// theta -> q
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 2.0f); // pitch angle to pitch-rate PID
PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
// h -> thr
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f);
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
// crosstrack
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // 90 deg
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f);
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.002f); // cross-track to yaw angle gain
// speed command
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); // minimum commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f); // commanded velocity
PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // maximum commanded velocity
// trim
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f);
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); // trim elevator (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); // trim rudder (-1,1)
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.81f); // trim throttle (0,1)