mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
64 lines
2.0 KiB
C
64 lines
2.0 KiB
C
#include <systemlib/param/param.h>
|
|
|
|
// currently tuned for easystar from arkhangar in HIL
|
|
//https://github.com/arktools/arkhangar
|
|
|
|
// 16 is max name length
|
|
|
|
// gyro low pass filter
|
|
PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
|
|
PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
|
|
PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
|
|
|
|
// yaw washout
|
|
PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
|
|
|
|
// stabilization mode
|
|
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
|
|
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
|
|
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
|
|
|
|
// psi -> phi -> p
|
|
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll
|
|
PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate
|
|
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit
|
|
|
|
// velocity -> theta
|
|
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
|
|
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
|
|
|
|
|
|
// theta -> q
|
|
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
|
|
|
|
// h -> thr
|
|
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
|
|
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
|
|
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
|
|
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
|
|
|
|
// crosstrack
|
|
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
|
|
|
|
// speed command
|
|
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
|
|
|
|
// trim
|
|
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
|
|
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);
|