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MC att control: Support increment meta data

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This commit is contained in:
Lorenz Meier 2016-02-28 19:42:34 +01:00
parent 9415dd8cd3
commit e3853ed4e5
1 changed files with 34 additions and 2 deletions
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36
src/modules/mc_att_control/mc_att_control_params.c
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@ -47,6 +47,7 @@
* @min 0.15
* @max 0.25
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
@ -59,6 +60,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
* @min 0.15
* @max 0.25
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
@ -69,7 +71,9 @@ PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @min 0.0
* @max 8
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
@ -80,7 +84,9 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @max 0.5
* @decimal 3
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
@ -91,6 +97,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
@ -101,7 +108,9 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @max 0.01
* @decimal 4
* @increment 0.0005
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
@ -124,7 +133,9 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
*
* @unit 1/s
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.0005
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
@ -135,7 +146,9 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @max 0.6
* @decimal 3
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
@ -147,6 +160,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
@ -158,6 +172,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
*
* @min 0.0
* @decimal 4
* @increment 0.0005
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
@ -180,7 +195,9 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
*
* @unit 1/s
* @min 0.0
* @max 5
* @decimal 2
* @increment 0.1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
@ -191,7 +208,9 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @max 0.6
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
@ -203,6 +222,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
@ -214,6 +234,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
*
* @min 0.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
@ -225,6 +246,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
*
* @min 0.0
* @decimal 4
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
@ -237,6 +259,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
@ -250,6 +273,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
* @min 0.0
* @max 360.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
@ -263,6 +287,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
* @min 0.0
* @max 360.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
@ -276,6 +301,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
* @min 0.0
* @max 360.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
@ -292,6 +318,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
* @min 0.0
* @max 120.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
@ -301,8 +328,9 @@ PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @max 1000.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f);
@ -312,8 +340,9 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f);
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @max 1000.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f);
@ -323,7 +352,9 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f);
*
* @unit deg/s
* @min 0.0
* @max 1000.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
@ -338,6 +369,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RATT_TH, 1.0f);