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Merged parameter changes

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Lorenz Meier
2012-08-22 09:19:43 +02:00
parent 72979032e9 c8645a7e53
commit d2e757aa3c
15 changed files with 375 additions and 72 deletions
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apps/multirotor_att_control/multirotor_attitude_control.c
+19
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@@ -51,8 +51,27 @@
#include <float.h>
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <arch/board/up_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_LIM, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_P, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_I, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_D, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_AWU, 0.0f);
PARAM_DEFINE_FLOAT(MC_ATT_LIM, 0.0f);
void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
struct actuator_controls_s *actuators, bool verbose)