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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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343cf5603e
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
110 lines
2.9 KiB
C
110 lines
2.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2019 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 vehicle_model_params.c
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* Parameters for vehicle model.
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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/**
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* Mass
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*
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* @unit kg
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_MASS, 1.f);
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/**
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* Inertia matrix, XX component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_XX, 0.01f);
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/**
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* Inertia matrix, YY component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_YY, 0.01f);
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/**
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* Inertia matrix, ZZ component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_ZZ, 0.01f);
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/**
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* Inertia matrix, XY component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_XY, 0.f);
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/**
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* Inertia matrix, XZ component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_XZ, 0.f);
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/**
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* Inertia matrix, YZ component
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*
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* @unit kg m^2
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* @decimal 5
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* @increment 0.00001
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* @group Vehicle Model
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*/
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PARAM_DEFINE_FLOAT(VM_INERTIA_YZ, 0.f);
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