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Merge branch 'master' into acro2

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This commit is contained in:
Anton Babushkin
2014-05-20 00:03:00 +02:00
parent b165e6ba20 b250e28abf
commit b12928548c
590 changed files with 32230 additions and 16046 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+74 -6
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@@ -1,9 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
/**
* @file mc_att_control_params.c
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <systemlib/param/param.h>
@@ -173,6 +174,73 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
PARAM_DEFINE_FLOAT(MC_ROLL_S_ACRO, 5.0f);
PARAM_DEFINE_FLOAT(MC_PITCH_S_ACRO, 5.0f);
PARAM_DEFINE_FLOAT(MC_YAW_S_ACRO, 3.0f);
/**
* Max yaw rate
*
* Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
/**
* Max acro roll rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
/**
* Max acro pitch rate
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
/**
* Max acro yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);