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FW att control: Better param docs

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Lorenz Meier
2015-05-19 07:18:25 +02:00
parent d9d25363b4
commit 66e6dccfee
1 changed files with 12 additions and 5 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+12 -5
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@@ -1,7 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * 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 * Parameters defined by the fixed-wing attitude control task
* *
* @author Lorenz Meier <lm@inf.ethz.ch> * @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomasgubler@gmail.com> * @author Thomas Gubler <thomas@px4.io>
*/ */
#include <nuttx/config.h> #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 * This defines how much the elevator input will be commanded depending on the
* current body angular rate error. * current body angular rate error.
* *
* @min 0.005
* @max 1.0
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); 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 * This defines how much the aileron input will be commanded depending on the
* current body angular rate error. * current body angular rate error.
* *
* @min 0.005
* @max 1.0
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); 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 * This defines how much the rudder input will be commanded depending on the
* current body angular rate error. * current body angular rate error.
* *
* @min 0.005
* @max 1.0
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
@@ -234,7 +239,9 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
/** /**
* Roll rate feed forward * 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 * @min 0.0
* @max 10.0 * @max 10.0