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mc_pos_control: replacement for multirotor_pos_control, rewritten to C++ and new mathlib

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Anton Babushkin
2013-12-26 23:03:19 +04:00
parent e103729de3
commit 20c9ce9d6d
9 changed files with 1009 additions and 1313 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+25
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/*
* mc_pos_control_params.c
*
* Created on: 26.12.2013
* Author: ton
*/
#include <systemlib/param/param.h>
/* multicopter position controller parameters */
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.05f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.01f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);