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Fixed PID roc2Thr param names/ added them to controldemo.

This commit is contained in:
jgoppert 2013-03-18 16:18:58 -04:00
parent 90f9b154eb
commit 9c9873bcc1
2 changed files with 9 additions and 2 deletions
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2
apps/controllib/fixedwing.cpp
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@ -158,7 +158,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par
// altitude/roc hold
_h2Thr(this, "H2THR"),
_roc2Thr(this, "H2THR"),
_roc2Thr(this, "ROC2THR"),
// guidance block
_guide(this, ""),

9
apps/examples/control_demo/params.c
View File

@ -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)