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mc_att_control: separate gains for roll and pitch

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This commit is contained in:
Anton Babushkin
2014-01-31 11:35:11 +01:00
parent 88d3f875ff
commit 282e0bb670
2 changed files with 53 additions and 37 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+8 -6
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@@ -41,13 +41,15 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(MC_ATT_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);