fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 07:07:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

MC rate controller: limit K and P values of PID controller to in pitch and roll (#14210)

Browse Source
This commit is contained in:
Silvan Fuhrer
2020-02-23 11:45:07 +01:00
committed by GitHub
parent af6213e85e
commit 6c8f39c5d8
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_rate_control/mc_rate_control_params.c
+4 -4
View File
@@ -44,7 +44,7 @@
*
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @min 0.01
* @max 0.5
* @decimal 3
* @increment 0.01
@@ -112,7 +112,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
* Set MC_ROLLRATE_P=1 to implement a PID in the ideal form.
* Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
*
* @min 0.0
* @min 0.01
* @max 5.0
* @decimal 4
* @increment 0.0005
@@ -125,7 +125,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f);
*
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @min 0.01
* @max 0.6
* @decimal 3
* @increment 0.01
@@ -192,7 +192,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
* Set MC_PITCHRATE_P=1 to implement a PID in the ideal form.
* Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
*
* @min 0.0
* @min 0.01
* @max 5.0
* @decimal 4
* @increment 0.0005