From 9c9873bcc112a604d6c43888bf121b27d101317b Mon Sep 17 00:00:00 2001 From: jgoppert Date: Mon, 18 Mar 2013 16:18:58 -0400 Subject: [PATCH] Fixed PID roc2Thr param names/ added them to controldemo. --- apps/controllib/fixedwing.cpp | 2 +- apps/examples/control_demo/params.c | 9 ++++++++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp index bbf87533e1..1cc28b9dd9 100644 --- a/apps/controllib/fixedwing.cpp +++ b/apps/controllib/fixedwing.cpp @@ -158,7 +158,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par // altitude/roc hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "H2THR"), + _roc2Thr(this, "ROC2THR"), // guidance block _guide(this, ""), diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c index 8db61d4d43..527709629f 100644 --- a/apps/examples/control_demo/params.c +++ b/apps/examples/control_demo/params.c @@ -58,7 +58,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb // this is what rate of climb is commanded (in m/s) -// when the throttle stick is fully defelcted in simple mode +// when the pitch stick is fully defelcted in simple mode PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); +// rate of climb -> thr +PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // altitude to throttle PID +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); + PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)