fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 12:57:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW att control: Better param docs

Browse Source
This commit is contained in:
Lorenz Meier
2015-05-19 07:18:25 +02:00
parent d9d25363b4
commit 66e6dccfee
1 changed files with 12 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_params.c
+12 -5
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
f * Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,8 +36,8 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Parameters defined by the fixed-wing attitude control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
#include <nuttx/config.h>
@@ -73,6 +72,8 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f);
* This defines how much the elevator input will be commanded depending on the
* current body angular rate error.
*
* @min 0.005
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f);
@@ -144,6 +145,8 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f);
* This defines how much the aileron input will be commanded depending on the
* current body angular rate error.
*
* @min 0.005
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
@@ -190,6 +193,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f);
* This defines how much the rudder input will be commanded depending on the
* current body angular rate error.
*
* @min 0.005
* @max 1.0
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
@@ -234,7 +239,9 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
/**
* Roll rate feed forward
*
* Direct feed forward from rate setpoint to control surface output
* Direct feed forward from rate setpoint to control surface output. Use this
* to obtain a tigher response of the controller without introducing
* noise amplification.
*
* @min 0.0
* @max 10.0