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MC pos control: Param meta data

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This commit is contained in:
Lorenz Meier
2016-02-14 18:43:58 +01:00
parent 9cb82e93be
commit e46824e784
1 changed files with 29 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+29
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@@ -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);