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[indi] make the guidance gains configurable (#1938)

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This commit is contained in:
Ewoud Smeur
2016-11-04 11:34:26 +01:00
committed by Christophe De Wagter
parent e76073cc86
commit 9fa7da81d3
1 changed files with 14 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_indi.c
+14
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@@ -43,8 +43,22 @@
#include "firmwares/rotorcraft/stabilization.h"
#include "stdio.h"
// The acceleration reference is calculated with these gains. If you use GPS,
// they are probably limited by the update rate of your GPS. The default
// values are tuned for 4 Hz GPS updates. If you have high speed position updates, the
// gains can be higher, depending on the speed of the inner loop.
#ifdef GUIDANCE_INDI_POS_GAIN
float guidance_indi_pos_gain = GUIDANCE_INDI_POS_GAIN;
#else
float guidance_indi_pos_gain = 0.5;
#endif
#ifdef GUIDANCE_INDI_SPEED_GAIN
float guidance_indi_speed_gain = GUIDANCE_INDI_SPEED_GAIN;
#else
float guidance_indi_speed_gain = 1.8;
#endif
struct FloatVect3 sp_accel = {0.0,0.0,0.0};
#ifdef GUIDANCE_INDI_SPECIFIC_FORCE_GAIN
float thrust_in_specific_force_gain = GUIDANCE_INDI_SPECIFIC_FORCE_GAIN;