From 66e6dccfee45a2865f79f03929bb6ae0545f5d2c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 19 May 2015 07:18:25 +0200 Subject: [PATCH] FW att control: Better param docs --- .../fw_att_control/fw_att_control_params.c | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 6b248cbe2e..d9ccd8bac8 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -1,7 +1,6 @@ /**************************************************************************** * -f * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier + * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,8 +36,8 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * * Parameters defined by the fixed-wing attitude control task * - * @author Lorenz Meier - * @author Thomas Gubler + * @author Lorenz Meier + * @author Thomas Gubler */ #include @@ -73,6 +72,8 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); * This defines how much the elevator input will be commanded depending on the * current body angular rate error. * + * @min 0.005 + * @max 1.0 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); @@ -144,6 +145,8 @@ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); * This defines how much the aileron input will be commanded depending on the * current body angular rate error. * + * @min 0.005 + * @max 1.0 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); @@ -190,6 +193,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f); * This defines how much the rudder input will be commanded depending on the * current body angular rate error. * + * @min 0.005 + * @max 1.0 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); @@ -234,7 +239,9 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); /** * Roll rate feed forward * - * Direct feed forward from rate setpoint to control surface output + * Direct feed forward from rate setpoint to control surface output. Use this + * to obtain a tigher response of the controller without introducing + * noise amplification. * * @min 0.0 * @max 10.0