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TECS: separate integral gains for throttle and pitch loops

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-13 21:21:07 +03:00
committed by Roman Bapst
parent 72dfb2078a
commit 2ca4269464
5 changed files with 33 additions and 11 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+2 -1
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@@ -396,7 +396,8 @@ private:
(ParamFloat<px4::params::FW_T_CLMB_MAX>) _param_fw_t_clmb_max,
(ParamFloat<px4::params::FW_T_HRATE_FF>) _param_fw_t_hrate_ff,
(ParamFloat<px4::params::FW_T_ALT_TC>) _param_fw_t_h_error_tc,
(ParamFloat<px4::params::FW_T_INTEG_GAIN>) _param_fw_t_integ_gain,
(ParamFloat<px4::params::FW_T_I_GAIN_THR>) _param_fw_t_I_gain_thr,
(ParamFloat<px4::params::FW_T_I_GAIN_PIT>) _param_fw_t_I_gain_pit,
(ParamFloat<px4::params::FW_T_PTCH_DAMP>) _param_fw_t_ptch_damp,
(ParamFloat<px4::params::FW_T_RLL2THR>) _param_fw_t_rll2thr,
(ParamFloat<px4::params::FW_T_SINK_MAX>) _param_fw_t_sink_max,