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MC att control: Param meta data

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Lorenz Meier
2016-02-14 18:43:23 +01:00
parent 6d75f11d3c
commit 9cb82e93be
1 changed files with 25 additions and 0 deletions
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25
src/modules/mc_att_control/mc_att_control_params.c
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@@ -46,6 +46,7 @@
*
* @min 0.15
* @max 0.25
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
@@ -57,6 +58,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_TC, 0.2f);
*
* @min 0.15
* @max 0.25
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
@@ -67,6 +69,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_TC, 0.2f);
* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
*
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
@@ -77,6 +80,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.5f);
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @decimal 3
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.15f);
@@ -97,6 +101,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.05f);
* Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
@@ -107,6 +112,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.003f);
* Improves tracking performance.
*
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
@@ -118,6 +124,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
*
* @unit 1/s
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
@@ -128,6 +135,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.5f);
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @decimal 3
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
@@ -138,6 +146,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.15f);
* Pitch rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
@@ -148,6 +157,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.05f);
* Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
@@ -158,6 +168,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.003f);
* Improves tracking performance.
*
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
@@ -169,6 +180,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
*
* @unit 1/s
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
@@ -179,6 +191,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
* Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
*
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
@@ -189,6 +202,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.2f);
* Yaw rate integral gain. Can be set to compensate static thrust difference or gravity center offset.
*
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
@@ -199,6 +213,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.1f);
* Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
*
* @min 0.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
@@ -209,6 +224,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
* Improves tracking performance.
*
* @min 0.0
* @decimal 4
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
@@ -220,6 +236,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
*
* @min 0.0
* @max 1.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
@@ -232,6 +249,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
@@ -244,6 +262,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
@@ -256,6 +275,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
@@ -271,6 +291,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
* @unit deg/s
* @min 0.0
* @max 120.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
@@ -281,6 +302,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f);
@@ -291,6 +313,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 360.0f);
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f);
@@ -300,6 +323,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 360.0f);
*
* @unit deg/s
* @min 0.0
* @decimal 1
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
@@ -313,6 +337,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 360.0f);
* @unit
* @min 0.0
* @max 1.0
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RATT_TH, 1.0f);