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247 lines
6.0 KiB
C
247 lines
6.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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 mc_att_control_params.c
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* Parameters for multicopter attitude controller.
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*
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* @author Tobias Naegeli <naegelit@student.ethz.ch>
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <systemlib/param/param.h>
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/**
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* Roll P gain
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*
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* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
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/**
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* Roll rate P gain
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*
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* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
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/**
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* Roll rate I gain
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*
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* Roll rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
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/**
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* Roll rate D gain
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*
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* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
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/**
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* Pitch P gain
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*
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* Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @unit 1/s
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
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/**
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* Pitch rate P gain
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*
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* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
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/**
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* Pitch rate I gain
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*
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* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
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/**
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* Pitch rate D gain
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*
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* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
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/**
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* Yaw P gain
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*
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* Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @unit 1/s
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
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/**
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* Yaw rate P gain
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*
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* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
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/**
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* Yaw rate I gain
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*
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* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
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/**
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* Yaw rate D gain
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*
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* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
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*
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
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/**
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* Yaw feed forward
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*
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* Feed forward weight for manual yaw control. 0 will give slow responce and no overshot, 1 - fast responce and big overshot.
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*
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* @min 0.0
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* @max 1.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
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/**
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* Max yaw rate
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*
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* Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation.
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*
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* @unit deg/s
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* @min 0.0
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* @max 360.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
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/**
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* Max manual roll
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
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/**
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* Max manual pitch
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*
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
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/**
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* Max manual yaw rate
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*
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* @unit deg/s
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
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/**
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* Max acro roll rate
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*
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* @unit deg/s
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* @min 0.0
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* @max 360.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
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/**
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* Max acro pitch rate
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*
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* @unit deg/s
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* @min 0.0
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* @max 360.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
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/**
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* Max acro yaw rate
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*
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* @unit deg/s
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* @min 0.0
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
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