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Merge remote-tracking branch 'upstream/mtecs' into mtecs_estimator

This commit is contained in:
Thomas Gubler 2014-06-04 18:43:51 +02:00
parent 72b70f19eb e03411fc89
commit eede0a93d3
1 changed files with 15 additions and 6 deletions
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21
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
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@ -58,7 +58,8 @@
PARAM_DEFINE_INT32(MT_ENABLED, 1);
/**
* Total Energy Rate Control FF
* Total Energy Rate Control Feedforward
* Maps the total energy rate setpoint to the throttle setpoint
*
* @min 0.0
* @max 10.0
@ -68,6 +69,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f);
/**
* Total Energy Rate Control P
* Maps the total energy rate error to the throttle setpoint
*
* @min 0.0
* @max 10.0
@ -77,6 +79,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
/**
* Total Energy Rate Control I
* Maps the integrated total energy rate to the throttle setpoint
*
* @min 0.0
* @max 10.0
@ -85,7 +88,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f);
/**
* Total Energy Rate Control OFF (Cruise throttle)
* Total Energy Rate Control Offset (Cruise throttle sp)
*
* @min 0.0
* @max 10.0
@ -94,7 +97,8 @@ PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f);
PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
/**
* Energy Distribution Rate Control FF
* Energy Distribution Rate Control Feedforward
* Maps the energy distribution rate setpoint to the pitch setpoint
*
* @min 0.0
* @max 10.0
@ -104,6 +108,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f);
/**
* Energy Distribution Rate Control P
* Maps the energy distribution rate error to the pitch setpoint
*
* @min 0.0
* @max 10.0
@ -113,6 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
/**
* Energy Distribution Rate Control I
* Maps the integrated energy distribution rate error to the pitch setpoint
*
* @min 0.0
* @max 10.0
@ -122,7 +128,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
/**
* Total Energy Distribution OFF (Cruise pitch sp)
* Total Energy Distribution Offset (Cruise pitch sp)
*
* @min 0.0
* @max 10.0
@ -170,6 +176,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
/**
* P gain for the altitude control
* Maps the altitude error to the flight path angle setpoint
*
* @min 0.0f
* @max 10.0f
@ -179,6 +186,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f);
/**
* D gain for the altitude control
* Maps the change of altitude error to the flight path angle setpoint
*
* @min 0.0f
* @max 10.0f
@ -187,7 +195,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f);
PARAM_DEFINE_FLOAT(MT_FPA_D, 0.0f);
/**
* Lowpass for FPA error derivative (see MT_FPA_D)
* Lowpass for FPA error derivative calculation (see MT_FPA_D)
*
* @group mTECS
*/
@ -217,6 +225,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
/**
* P gain for the airspeed control
* Maps the airspeed error to the acceleration setpoint
*
* @min 0.0f
* @max 10.0f
@ -241,7 +250,7 @@ PARAM_DEFINE_FLOAT(MT_ACC_MIN, -40.0f);
PARAM_DEFINE_FLOAT(MT_ACC_MAX, 40.0f);
/**
* Airspeed derivative lowpass
* Airspeed derivative calculation lowpass
*
* @group mTECS
*/