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Hotfix: Use sensible default gains for users not being able to read instructions.

This commit is contained in:
Lorenz Meier 2013-09-12 12:51:21 +02:00
parent 5c0ec659b6
commit a418498f1b
3 changed files with 9 additions and 9 deletions
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6
src/modules/multirotor_att_control/multirotor_attitude_control.c
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@ -62,15 +62,15 @@
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f); PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f); PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f); //PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 1.0f);
//PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f); //PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 3.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.2f); PARAM_DEFINE_FLOAT(MC_ATT_P, 6.8f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.05f); PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f); //PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.4f);

10
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -59,14 +59,14 @@
#include <systemlib/err.h> #include <systemlib/err.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.005f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.2f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
//PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.09f); /* 0.15 F405 Flamewheel */
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f);
//PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */

2
src/modules/multirotor_pos_control/multirotor_pos_control_params.c
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@ -54,7 +54,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 10.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f);
int parameters_init(struct multirotor_position_control_param_handles *h) int parameters_init(struct multirotor_position_control_param_handles *h)