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/**
 * @file mc_att_control_params.c
 * Parameters for multicopter attitude controller.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 */

/**
 * Roll P gain
 *
 * Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
 *
 * @min 0.0
 * @max 12
 * @decimal 2
 * @increment 0.1
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);

/**
 * Pitch P gain
 *
 * Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
 *
 * @min 0.0
 * @max 12
 * @decimal 2
 * @increment 0.1
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);

/**
 * Yaw P gain
 *
 * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
 *
 * @min 0.0
 * @max 5
 * @decimal 2
 * @increment 0.1
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);

/**
 * Yaw weight
 *
 * A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
 * Deprioritizing yaw is necessary because multicopters have much less control authority
 * in yaw compared to the other axes and it makes sense because yaw is not critical for
 * stable hovering or 3D navigation.
 *
 * For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.1
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_YAW_WEIGHT, 0.4f);

/**
 * Max roll rate
 *
 * Limit for roll rate in manual and auto modes (except acro).
 * Has effect for large rotations in autonomous mode, to avoid large control
 * output and mixer saturation.
 *
 * This is not only limited by the vehicle's properties, but also by the maximum
 * measurement rate of the gyro.
 *
 * @unit deg/s
 * @min 0.0
 * @max 1800.0
 * @decimal 1
 * @increment 5
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);

/**
 * Max pitch rate
 *
 * Limit for pitch rate in manual and auto modes (except acro).
 * Has effect for large rotations in autonomous mode, to avoid large control
 * output and mixer saturation.
 *
 * This is not only limited by the vehicle's properties, but also by the maximum
 * measurement rate of the gyro.
 *
 * @unit deg/s
 * @min 0.0
 * @max 1800.0
 * @decimal 1
 * @increment 5
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);

/**
 * Max yaw rate
 *
 * @unit deg/s
 * @min 0.0
 * @max 1800.0
 * @decimal 1
 * @increment 5
 * @group Multicopter Attitude Control
 */
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);

/**
 * Manual tilt input filter time constant
 *
 * Setting this parameter to 0 disables the filter
 *
 * @unit s
 * @min 0.0
 * @max 2.0
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MC_MAN_TILT_TAU, 0.0f);