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mc_att_control param @unit

This commit is contained in:
Daniel Agar 2016-03-13 14:48:25 -04:00 committed by Lorenz Meier
parent da9025ce86
commit 55b33e97b3
1 changed files with 16 additions and 0 deletions
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16
src/modules/mc_att_control/mc_att_control_params.c
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@ -44,6 +44,7 @@
*
* Reduce if the system is too twitchy, increase if the response is too slow and sluggish.
*
* @unit s
* @min 0.15
* @max 0.25
* @decimal 2
@ -57,6 +58,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
*
* Reduce if the system is too twitchy, increase if the response is too slow and sluggish.
*
* @unit s
* @min 0.15
* @max 0.25
* @decimal 2
@ -70,6 +72,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
*
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @unit
* @min 0.0
* @max 8
* @decimal 2
@ -83,6 +86,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
*
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @unit
* @min 0.0
* @max 0.5
* @decimal 3
@ -96,6 +100,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
*
* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @unit
* @min 0.0
* @decimal 3
* @increment 0.01
@ -108,6 +113,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
*
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @unit
* @min 0.0
* @max 0.01
* @decimal 4
@ -121,6 +127,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
*
* Improves tracking performance.
*
* @unit
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
@ -146,6 +153,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
*
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @unit
* @min 0.0
* @max 0.6
* @decimal 3
@ -159,6 +167,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
*
* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @unit
* @min 0.0
* @decimal 3
* @increment 0.01
@ -171,6 +180,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
*
* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @unit
* @min 0.0
* @decimal 4
* @increment 0.0005
@ -183,6 +193,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
*
* Improves tracking performance.
*
* @unit
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
@ -208,6 +219,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
*
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @unit
* @min 0.0
* @max 0.6
* @decimal 2
@ -221,6 +233,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
*
* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @unit
* @min 0.0
* @decimal 2
* @increment 0.01
@ -233,6 +246,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
*
* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @unit
* @min 0.0
* @decimal 2
* @increment 0.01
@ -245,6 +259,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
*
* Improves tracking performance.
*
* @unit
* @min 0.0
* @decimal 4
* @increment 0.01
@ -257,6 +272,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
*
* Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @unit
* @min 0.0
* @max 1.0
* @decimal 2