From e46824e784036a00cacfc496c9a97bf4f572f54b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 14 Feb 2016 18:43:38 +0100 Subject: [PATCH] MC pos control: Param meta data --- .../mc_pos_control/mc_pos_control_params.c | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 1ddf9114e0..1cb4d36ba3 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -45,6 +45,7 @@ * * @min 0.05 * @max 1.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); @@ -59,6 +60,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); * * @min 0.0 * @max 0.95 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f); @@ -70,6 +72,7 @@ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f); * * @min 0.0 * @max 1.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f); @@ -84,6 +87,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f); * * @min 0.0 * @max 1.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f); @@ -92,6 +96,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f); * Proportional gain for vertical position error * * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); @@ -100,6 +105,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); * Proportional gain for vertical velocity error * * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f); @@ -110,6 +116,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.2f); * Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff. * * @min 0.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); @@ -118,6 +125,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); * Differential gain for vertical velocity error * * @min 0.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); @@ -130,6 +138,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); * @unit m/s * @min 0.0 * @max 8.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); @@ -141,6 +150,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 3.0f); * * @min 0.0 * @max 1.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); @@ -149,6 +159,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_FF, 0.5f); * Proportional gain for horizontal position error * * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); @@ -157,6 +168,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 1.0f); * Proportional gain for horizontal velocity error * * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); @@ -167,6 +179,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.1f); * Non-zero value allows to resist wind. * * @min 0.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); @@ -175,6 +188,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f); * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again. * * @min 0.0 + * @decimal 3 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); @@ -186,6 +200,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); * * @unit m/s * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); @@ -197,6 +212,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); * * @min 0.0 * @max 1.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); @@ -209,6 +225,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); * @unit degree * @min 0.0 * @max 90.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); @@ -221,6 +238,7 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); * @unit degree * @min 0.0 * @max 90.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f); @@ -230,6 +248,7 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f); * * @unit m/s * @min 0.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f); @@ -239,6 +258,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f); * * @unit m/s * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); @@ -249,6 +269,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); * @unit degree * @min 0.0 * @max 90.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f); @@ -259,6 +280,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f); * @unit degree * @min 0.0 * @max 90.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f); @@ -268,6 +290,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f); * * @unit degree / s * @min 0.0 + * @decimal 1 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f); @@ -278,6 +301,7 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f); * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f); @@ -288,6 +312,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f); * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_HOLD_Z_DZ, 0.1f); @@ -297,6 +322,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_Z_DZ, 0.1f); * * @unit m/s * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.5f); @@ -306,6 +332,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.5f); * * @unit m/s * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.5f); @@ -315,6 +342,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.5f); * * @unit Hz * @min 0.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); @@ -325,6 +353,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); * @unit m/s/s * @min 2.0 * @max 10.0 + * @decimal 2 * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 4.0f);