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Airmode - Add airmode parameter for multicopter mixer

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bresch
2018-03-23 10:35:08 +01:00
committed by Roman Bapst
parent 851c3657d1
commit 6976232a20
10 changed files with 84 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+15 -1
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@@ -542,4 +542,18 @@ PARAM_DEFINE_FLOAT(MC_TPA_RATE_D, 0.0f);
* @increment 10
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 30.f);
PARAM_DEFINE_FLOAT(MC_DTERM_CUTOFF, 0.f);
/**
* Multicopter air-mode
*
* The air-mode enables the mixer to increase or decrease the total thrust of the multirotor
* in order to keep attitude and rate control even at low and high throttle.
* This function should be disabled during tuning as it will help the controller
* to diverge if the closed-loop is unstable.
*
* @boolean
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(MC_AIRMODE, 0);