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group l1 control and tecs as FW

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This commit is contained in:
Daniel Agar
2016-03-25 17:04:59 -04:00
parent c748eb6757
commit b26f90406b
1 changed files with 37 additions and 37 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+37 -37
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@@ -54,7 +54,7 @@
* @unit m
* @min 12.0
* @max 50.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
*
* @min 0.6
* @max 0.9
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
@@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
*
* @min 0.0
* @max 1.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
@@ -87,7 +87,7 @@ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
*
* @min 0.0
* @max 1.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
@@ -99,7 +99,7 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
* @unit deg
* @min -60.0
* @max 0.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
@@ -111,7 +111,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
* @unit deg
* @min 0.0
* @max 60.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
@@ -123,7 +123,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
* @unit deg
* @min 35.0
* @max 65.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
@@ -136,7 +136,7 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
*
* @min 0.0
* @max 1.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
@@ -154,7 +154,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
*
* @min 0.0
* @max 1.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@@ -168,7 +168,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
*
* @min 0.0
* @max 0.4
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
@@ -180,7 +180,7 @@ PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
*
* @min 0.0
* @max 1.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
@@ -195,7 +195,7 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
* @unit m
* @min 0.0
* @max 150.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
@@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
* @unit m/s
* @min 2.0
* @max 10.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
* to measure FW_T_CLMB_MAX.
*
* @unit m/s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
@@ -244,7 +244,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
* the aircraft.
*
* @unit m/s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
@@ -256,7 +256,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
* to respond.
*
* @unit s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
@@ -268,7 +268,7 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
* to respond.
*
* @unit s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
@@ -278,7 +278,7 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
* This is the damping gain for the throttle demand loop.
* Increase to add damping to correct for oscillations in speed and height.
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
@@ -290,7 +290,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
* and height offsets are trimmed out, but reduces damping and
* increases overshoot.
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
@@ -304,7 +304,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
* from under-speed conditions.
*
* @unit m/s/s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
@@ -318,7 +318,7 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
* the solution more towards use of the accelerometer data.
*
* @unit rad/s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
@@ -332,7 +332,7 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
* solution more towards use of the accelerometer data.
*
* @unit rad/s
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
@@ -348,7 +348,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
* aircraft (eg powered sailplanes) can use a lower value, whereas
* inefficient low aspect-ratio models (eg delta wings) can use a higher value.
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
@@ -368,7 +368,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
*
* @min 0.0
* @max 2.0
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
@@ -380,28 +380,28 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
* will work well provided the pitch to servo controller has been tuned
* properly.
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
/**
* Height rate P factor
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
/**
* Height rate FF factor
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
/**
* Speed rate P factor
*
* @group Fixed Wing TECS
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
@@ -411,7 +411,7 @@ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
* @unit deg
* @min 1.0
* @max 15.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
@@ -419,7 +419,7 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
*
*
* @unit m
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
@@ -429,7 +429,7 @@ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
* @unit m
* @min 0.0
* @max 25.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
@@ -442,7 +442,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
* @unit m
* @min -1.0
* @max 30.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
@@ -452,7 +452,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
* @unit m
* @min 0
* @max 30.0
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
@@ -462,7 +462,7 @@ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
* 0: disabled, 1: enabled
*
* @unit boolean
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
@@ -475,7 +475,7 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 0);
* @unit deg
* @min 0
* @max 15.0
* @group L1 Control
* @group FW L1 Control
*
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
@@ -489,7 +489,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
* @unit deg
* @min 0
* @max 45.0
* @group L1 Control
* @group FW L1 Control
*
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
@@ -502,6 +502,6 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
*
* @min 1.0
* @max 1.5
* @group L1 Control
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD_SC, 1.3f);