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145 lines
3.7 KiB
C
145 lines
3.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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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 uuv_att_control_params.c
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*
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* Parameters defined by the attitude control task for unmanned underwater vehicles (UUVs)
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*
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* This is a modification of the fixed wing/ground rover params and it is designed for ground rovers.
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* It has been developed starting from the fw module, simplified and improved with dedicated items.
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*
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* All the ackowledgments and credits for the fw wing/rover app are reported in those files.
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*
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* @author Daniel Duecker <daniel.duecker@tuhh.de>
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*/
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/*
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* Controller parameters, accessible via MAVLink
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*
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*/
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// Roll gains
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/**
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* Roll proportional gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_ROLL_P, 4.0f);
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/**
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* Roll differential gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_ROLL_D, 1.5f);
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// Pitch gains
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/**
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* Pitch proportional gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_PITCH_P, 4.0f);
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/**
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* Pitch differential gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_PITCH_D, 2.0f);
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// Yaw gains
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/**
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* Yawh proportional gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_YAW_P, 4.0f);
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/**
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* Yaw differential gain
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_YAW_D, 2.0f);
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// Input Modes
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/**
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* Select Input Mode
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*
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* @value 0 use Attitude Setpoints
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* @value 1 Direct Feedthrough
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_INT32(UUV_INPUT_MODE, 0);
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/**
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* Skip the controller
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*
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* @value 0 use the module's controller
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* @value 1 skip the controller and feedthrough the setpoints
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*/
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PARAM_DEFINE_INT32(UUV_SKIP_CTRL, 0);
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/**
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* Direct roll input
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_DIRCT_ROLL, 0.0f);
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/**
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* Direct pitch input
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_DIRCT_PITCH, 0.0f);
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/**
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* Direct yaw input
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_DIRCT_YAW, 0.0f);
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/**
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* Direct thrust input
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_DIRCT_THRUST, 0.0f);
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