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MC rate controller: limit K and P values of PID controller to in pitch and roll (#14210)

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Silvan Fuhrer
2020-02-23 11:45:07 +01:00
committed by GitHub
parent af6213e85e
commit 6c8f39c5d8
1 changed files with 4 additions and 4 deletions
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src/modules/mc_rate_control/mc_rate_control_params.c
+4 -4
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@@ -44,7 +44,7 @@
* *
* Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s. * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
* *
* @min 0.0 * @min 0.01
* @max 0.5 * @max 0.5
* @decimal 3 * @decimal 3
* @increment 0.01 * @increment 0.01
@@ -112,7 +112,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_FF, 0.0f);
* Set MC_ROLLRATE_P=1 to implement a PID in the ideal form. * Set MC_ROLLRATE_P=1 to implement a PID in the ideal form.
* Set MC_ROLLRATE_K=1 to implement a PID in the parallel form. * Set MC_ROLLRATE_K=1 to implement a PID in the parallel form.
* *
* @min 0.0 * @min 0.01
* @max 5.0 * @max 5.0
* @decimal 4 * @decimal 4
* @increment 0.0005 * @increment 0.0005
@@ -125,7 +125,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_K, 1.0f);
* *
* Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s. * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
* *
* @min 0.0 * @min 0.01
* @max 0.6 * @max 0.6
* @decimal 3 * @decimal 3
* @increment 0.01 * @increment 0.01
@@ -192,7 +192,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_FF, 0.0f);
* Set MC_PITCHRATE_P=1 to implement a PID in the ideal form. * Set MC_PITCHRATE_P=1 to implement a PID in the ideal form.
* Set MC_PITCHRATE_K=1 to implement a PID in the parallel form. * Set MC_PITCHRATE_K=1 to implement a PID in the parallel form.
* *
* @min 0.0 * @min 0.01
* @max 5.0 * @max 5.0
* @decimal 4 * @decimal 4
* @increment 0.0005 * @increment 0.0005