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manual merge fw_integrator_fix_ouputlimit into fw_staging_ouputlimit

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Thomas Gubler
2013-10-24 18:34:22 +02:00
parent bff3bf8d87 1e89f30120
commit 01d8ca1fba
4 changed files with 13 additions and 11 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+3 -3
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@@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 1000.0f);
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f);
// @DisplayName Roll feedforward gain.
// @Description This compensates during turns and ensures the nose stays level.
@@ -119,7 +119,7 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.05f);
// @Description This limits the range in degrees the integrator can wind up to.
// @Range 0.0 to 45.0
// @Increment 1.0
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 1000.0f);
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
// @DisplayName Maximum Roll Rate
// @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit.
@@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 60);
PARAM_DEFINE_FLOAT(FW_YR_P, 0.5);
PARAM_DEFINE_FLOAT(FW_YR_I, 0.05);
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 1000.0f);
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
PARAM_DEFINE_FLOAT(FW_YR_D, 0); //xxx: remove
PARAM_DEFINE_FLOAT(FW_Y_ROLLFF, 0);
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 9.0f);