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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+3 -3
View File
@@ -602,10 +602,10 @@ MulticopterAttitudeControl::vehicle_motor_limits_poll()
}
}
/*
/**
* Attitude controller.
* Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes)
* Input: 'vehicle_attitude_setpoint' topics (depending on mode)
* Output: '_rates_sp' vector, '_thrust_sp'
*/
void
MulticopterAttitudeControl::control_attitude(float dt)
src/modules/mc_att_control/mc_att_control_params.c
+11 -11
View File
@@ -50,7 +50,7 @@
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
/**
* Roll rate P gain
@@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.12f);
/**
* Roll rate I gain
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
/**
* Roll rate D gain
@@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
/**
* Roll rate feedforward
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
/**
* Pitch rate P gain
@@ -111,7 +111,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.12f);
/**
* Pitch rate I gain
@@ -121,7 +121,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
/**
* Pitch rate D gain
@@ -131,7 +131,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
/**
* Pitch rate feedforward
@@ -152,7 +152,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
/**
* Yaw rate P gain
@@ -162,7 +162,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
/**
* Yaw rate I gain
@@ -172,7 +172,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
/**
* Yaw rate D gain