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Commented flow example slightly better

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Lorenz Meier
2013-07-05 11:44:25 +02:00
parent 5f2d35d715
commit 422c675c55
1 changed files with 11 additions and 0 deletions
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src/examples/flow_position_control/flow_position_control_params.c
+11
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@@ -40,14 +40,25 @@
#include "flow_position_control_params.h"
/* controller parameters */
// Position control P gain
PARAM_DEFINE_FLOAT(FPC_POS_P, 3.0f);
// Position control D / damping gain
PARAM_DEFINE_FLOAT(FPC_POS_D, 0.0f);
// Altitude control P gain
PARAM_DEFINE_FLOAT(FPC_H_P, 0.15f);
// Altitude control I (integrator) gain
PARAM_DEFINE_FLOAT(FPC_H_I, 0.00001f);
// Altitude control D gain
PARAM_DEFINE_FLOAT(FPC_H_D, 0.8f);
// Altitude control rate limiter
PARAM_DEFINE_FLOAT(FPC_H_RATE, 0.1f);
// Altitude control minimum altitude
PARAM_DEFINE_FLOAT(FPC_H_MIN, 0.5f);
// Altitude control maximum altitude (higher than 1.5m is untested)
PARAM_DEFINE_FLOAT(FPC_H_MAX, 1.5f);
// Altitude control feed forward throttle - adjust to the
// throttle position (0..1) where the copter hovers in manual flight
PARAM_DEFINE_FLOAT(FPC_T_FFWD, 0.7f); // adjust this before flight
PARAM_DEFINE_FLOAT(FPC_L_S_X, 1.2f);
PARAM_DEFINE_FLOAT(FPC_L_S_Y, 1.2f);