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Auto traj - Add parameter for gain of trajectory controller

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bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent 2c63388fb7
commit 2847ce20b8
3 changed files with 26 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+20
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@@ -249,6 +249,26 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Proportional gain for horizontal trajectory position error
*
* @min 0.1
* @max 5.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.3f);
/**
* Proportional gain for vertical trajectory position error
*
* @min 0.1
* @max 5.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_TRAJ_P, 0.3f);
/**
* Cruise speed when angle prev-current/current-next setpoint
* is 90 degrees. It should be lower than MPC_XY_CRUISE.