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mc_pos_control: parameters descriptions added

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Anton Babushkin
2014-02-16 21:05:54 +01:00
parent 7f7ce77d61
commit 4b41a398e7
1 changed files with 145 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+145 -1
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@@ -39,20 +39,164 @@
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.0f);
/**
* Minimum thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
/**
* Maximum thrust
*
* Limit max allowed thrust.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
/**
* Proportional gain for vertical position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
/**
* Proportional gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);
/**
* Integral gain for vertical velocity error
*
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
/**
* Differential gain for vertical velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY).
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f);
/**
* Vertical velocity feed forward
*
* Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f);
/**
* Proportional gain for horizontal position error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f);
/**
* Proportional gain for horizontal velocity error
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f);
/**
* Integral gain for horizontal velocity error
*
* Non-zero value allows to resist wind.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY).
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
/**
* Horizontal velocity feed forward
*
* Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
/**
* Maximum tilt
*
* Limits maximum tilt in AUTO and EASY modes.
*
* @min 0.0
* @max 1.57
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f);
/**
* Landing descend rate
*
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
/**
* Maximum landing tilt
*
* Limits maximum tilt on landing.
*
* @min 0.0
* @max 1.57
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f);