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mtecs: better (but not final) default parameters for mtecs

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This commit is contained in:
Thomas Gubler
2014-04-06 11:11:58 +02:00
parent be918cd6d0
commit 45cef9eed4
1 changed files with 11 additions and 11 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+11 -11
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@@ -55,7 +55,7 @@
* @max 1
* @group mTECS
*/
PARAM_DEFINE_INT32(MT_ENABLED, 0);
PARAM_DEFINE_INT32(MT_ENABLED, 1);
/**
* Total Energy Rate Control FF
@@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 0);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f);
PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f);
/**
* Total Energy Rate Control P
@@ -73,7 +73,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 1.0f);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
/**
* Total Energy Rate Control I
@@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_THR_I, 0.0f);
PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f);
/**
* Total Energy Rate Control OFF (Cruise throttle)
@@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f);
PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f);
/**
* Energy Distribution Rate Control P
@@ -109,7 +109,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_FF, 1.0f);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f);
PARAM_DEFINE_FLOAT(MT_PIT_P, 0.03f);
/**
* Energy Distribution Rate Control I
@@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_P, 0.1f);
* @max 10.0
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_I, 0.0f);
PARAM_DEFINE_FLOAT(MT_PIT_I, 0.03f);
/**
@@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MIN, -45.0f);
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f);
PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
/**
* P gain for the altitude control
@@ -175,7 +175,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 45.0f);
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_P, 0.1f);
PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f);
/**
* D gain for the altitude control
@@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
* @unit deg
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_FPA_MIN, -30.0f);
PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f);
/**
* Maximal flight path angle setpoint
@@ -222,7 +222,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_MAX, 30.0f);
* @max 10.0f
* @group mTECS
*/
PARAM_DEFINE_FLOAT(MT_ACC_P, 0.1f);
PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f);
/**
* Minimal acceleration (air)