From 9cb82e93be4549323f873c23e4f1c6eca453572e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 14 Feb 2016 18:43:23 +0100 Subject: [PATCH] MC att control: Param meta data --- .../mc_att_control/mc_att_control_params.c | 25 +++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 77e990ee2b..712c981ded 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -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);