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re-add hardcoded parameters for euroc

This commit is contained in:
Thomas Gubler 2014-12-05 09:29:20 +01:00
parent 2f646e7082
commit 85aa6554ad
1 changed files with 29 additions and 0 deletions
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29
src/modules/mc_att_control/mc_att_control_sim.cpp
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@ -46,6 +46,35 @@
using namespace std;
#endif
MulticopterAttitudeControlSim::MulticopterAttitudeControlSim()
{
/* setup standard gains */
//XXX: make these configurable
_params.att_p(0) = 5.0;
_params.rate_p(0) = 0.05;
_params.rate_i(0) = 0.0;
_params.rate_d(0) = 0.003;
/* pitch gains */
_params.att_p(1) = 5.0;
_params.rate_p(1) = 0.05;
_params.rate_i(1) = 0.0;
_params.rate_d(1) = 0.003;
/* yaw gains */
_params.att_p(2) = 2.8;
_params.rate_p(2) = 0.2;
_params.rate_i(2) = 0.1;
_params.rate_d(2) = 0.0;
_params.yaw_rate_max = 0.5;
_params.yaw_ff = 0.5;
_params.man_roll_max = 0.6;
_params.man_pitch_max = 0.6;
_params.man_yaw_max = 0.6;
}
MulticopterAttitudeControlSim::~MulticopterAttitudeControlSim()
{
}
void MulticopterAttitudeControlSim::set_attitude(const Eigen::Quaternion<double> attitude)
{
math::Quaternion quat;