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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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samuezih
101 lines
3.1 KiB
C
101 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
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* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file flow_position_control_params.h
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*
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* Parameters for position controller
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*/
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#include <systemlib/param/param.h>
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struct flow_position_control_params {
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float pos_p;
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float pos_d;
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float height_p;
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float height_i;
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float height_d;
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float height_rate;
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float height_min;
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float height_max;
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float thrust_feedforward;
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float limit_speed_x;
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float limit_speed_y;
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float limit_height_error;
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float limit_thrust_int;
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float limit_thrust_upper;
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float limit_thrust_lower;
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float limit_yaw_step;
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float manual_threshold;
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float rc_scale_pitch;
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float rc_scale_roll;
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float rc_scale_yaw;
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};
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struct flow_position_control_param_handles {
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param_t pos_p;
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param_t pos_d;
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param_t height_p;
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param_t height_i;
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param_t height_d;
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param_t height_rate;
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param_t height_min;
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param_t height_max;
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param_t thrust_feedforward;
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param_t limit_speed_x;
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param_t limit_speed_y;
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param_t limit_height_error;
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param_t limit_thrust_int;
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param_t limit_thrust_upper;
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param_t limit_thrust_lower;
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param_t limit_yaw_step;
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param_t manual_threshold;
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param_t rc_scale_pitch;
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param_t rc_scale_roll;
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param_t rc_scale_yaw;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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int parameters_init(struct flow_position_control_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
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