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Merge branch 'beta'

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This commit is contained in:
Lorenz Meier
2015-08-04 10:56:53 +02:00
parent 5fd88f4d3e 5b3449e75b
commit 420acb9748
12 changed files with 124 additions and 89 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
-4
View File
@@ -163,7 +163,6 @@ private:
struct {
float tconst;
float p_p;
float p_d;
float p_i;
float p_ff;
float p_rmax_pos;
@@ -171,7 +170,6 @@ private:
float p_integrator_max;
float p_roll_feedforward;
float r_p;
float r_d;
float r_i;
float r_ff;
float r_integrator_max;
@@ -208,7 +206,6 @@ private:
param_t tconst;
param_t p_p;
param_t p_d;
param_t p_i;
param_t p_ff;
param_t p_rmax_pos;
@@ -216,7 +213,6 @@ private:
param_t p_integrator_max;
param_t p_roll_feedforward;
param_t r_p;
param_t r_d;
param_t r_i;
param_t r_ff;
param_t r_integrator_max;
src/modules/fw_att_control/fw_att_control_params.c
+5 -5
View File
@@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
* @max 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
/**
* Maximum positive / up pitch rate.
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.01f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
/**
* Maximum negative / down pitch rate.
@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f);
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
/**
* Pitch rate integrator limit
@@ -185,7 +185,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
* @max 90.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
/**
* Yaw rate proportional gain
@@ -258,7 +258,7 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
* @max 10.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f);
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
/**
* Yaw rate feed forward