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fw_att_control set default yaw rate max and update parameter descriptions

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Daniel Agar
2018-05-13 16:48:12 -04:00
committed by Lorenz Meier
parent a32333994f
commit e33da0a821
1 changed files with 8 additions and 8 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+8 -8
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@@ -115,7 +115,7 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
* Maximum positive / up pitch rate. * Maximum positive / up pitch rate.
* *
* This limits the maximum pitch up angular rate the controller will output (in * This limits the maximum pitch up angular rate the controller will output (in
* degrees per second). Setting a value of zero disables the limit. * degrees per second).
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
@@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
* Maximum negative / down pitch rate. * Maximum negative / down pitch rate.
* *
* This limits the maximum pitch down up angular rate the controller will * This limits the maximum pitch down up angular rate the controller will
* output (in degrees per second). Setting a value of zero disables the limit. * output (in degrees per second).
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
@@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
* Maximum roll rate * Maximum roll rate
* *
* This limits the maximum roll rate the controller will output (in degrees per * This limits the maximum roll rate the controller will output (in degrees per
* second). Setting a value of zero disables the limit. * second).
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
@@ -241,7 +241,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
* @increment 0.5 * @increment 0.5
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); PARAM_DEFINE_FLOAT(FW_YR_I, 0.01f);
/** /**
* Yaw rate integrator limit * Yaw rate integrator limit
@@ -261,7 +261,7 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
* Maximum yaw rate * Maximum yaw rate
* *
* This limits the maximum yaw rate the controller will output (in degrees per * This limits the maximum yaw rate the controller will output (in degrees per
* second). Setting a value of zero disables the limit. * second).
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
@@ -270,7 +270,7 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
* @increment 0.5 * @increment 0.5
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); PARAM_DEFINE_FLOAT(FW_Y_RMAX, 50.0f);
/** /**
* Roll control to yaw control feedforward gain. * Roll control to yaw control feedforward gain.
@@ -344,7 +344,7 @@ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
* Maximum wheel steering rate * Maximum wheel steering rate
* *
* This limits the maximum wheel steering rate the controller will output (in degrees per * This limits the maximum wheel steering rate the controller will output (in degrees per
* second). Setting a value of zero disables the limit. * second).
* *
* @unit deg/s * @unit deg/s
* @min 0.0 * @min 0.0
@@ -353,7 +353,7 @@ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
* @increment 0.5 * @increment 0.5
* @group FW Attitude Control * @group FW Attitude Control
*/ */
PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f); PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);
/** /**
* Roll rate feed forward * Roll rate feed forward