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mc_pos_control: moded weathervane parameters to weathervane lib
Signed-off-by: Roman <bapstroman@gmail.com>
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/**************************************************************************** | ||
* | ||
* Copyright (c) 2018 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 | ||
* are met: | ||
* | ||
* 1. Redistributions of source code must retain the above copyright | ||
* notice, this list of conditions and the following disclaimer. | ||
* 2. Redistributions in binary form must reproduce the above copyright | ||
* notice, this list of conditions and the following disclaimer in | ||
* the documentation and/or other materials provided with the | ||
* distribution. | ||
* 3. Neither the name PX4 nor the names of its contributors may be | ||
* used to endorse or promote products derived from this software | ||
* without specific prior written permission. | ||
* | ||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
* POSSIBILITY OF SUCH DAMAGE. | ||
* | ||
****************************************************************************/ | ||
|
||
/** | ||
* @file weathervane_params.c | ||
* | ||
* Parameters defined by the weathervane lib. | ||
* | ||
* @author Roman Bapst <roman@auterion.com> | ||
*/ | ||
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#include <px4_config.h> | ||
#include <parameters/param.h> | ||
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/** | ||
* Enable weathervane for manual. | ||
* | ||
* @value 0 Disabled | ||
* @value 1 Enabled | ||
* @group Multicopter Position Control | ||
*/ | ||
PARAM_DEFINE_INT32(WV_MAN_EN, 0); | ||
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/** | ||
* Enable weathervane for auto. | ||
* | ||
* @value 0 Disabled | ||
* @value 1 Enabled | ||
* @group Multicopter Position Control | ||
*/ | ||
PARAM_DEFINE_INT32(WV_AUTO_EN, 0); | ||
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/** | ||
* Weather-vane yaw rate from roll gain. | ||
* | ||
* The desired gain to convert roll sp into yaw rate sp. | ||
* | ||
* @min 0.0 | ||
* @max 3.0 | ||
* @increment 0.01 | ||
* @decimal 3 | ||
* @group VTOL Attitude Control | ||
*/ | ||
PARAM_DEFINE_FLOAT(WV_GAIN, 1.0f); | ||
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/** | ||
* Minimum roll angle setpoint for weathervane controller to demand a yaw-rate. | ||
* | ||
* @min 0 | ||
* @max 5 | ||
* @group Multicopter Position Control | ||
*/ | ||
PARAM_DEFINE_FLOAT(WV_ROLL_MIN, 1.0f); | ||
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/** | ||
* Maximum yawrate the weathervane controller is able to demand. | ||
* | ||
* @min 0 | ||
* @max 120 | ||
* @group Multicopter Position Control | ||
*/ | ||
PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f); |
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