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/**
 * @file angular_velocity_controller_params.c
 * Parameters for angular velocity controller.
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

/**
 * Body X axis angular velocity P gain
 *
 * Body X axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
 *
 * @unit 1/s
 * @min 0.0
 * @max 20.0
 * @decimal 3
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_P, 18.f);

/**
 * Body X axis angular velocity I gain
 *
 * Body X axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
 *
 * @unit Nm/rad
 * @min 0.0
 * @decimal 3
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_I, 0.2f);

/**
 * Body X axis angular velocity integrator limit
 *
 * Body X axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large roll moment trim changes.
 *
 * @unit Nm
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_I_LIM, 0.3f);

/**
 * Body X axis angular velocity D gain
 *
 * Body X axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 *
 * @min 0.0
 * @max 2.0
 * @decimal 4
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_D, 0.36f);

/**
 * Body X axis angular velocity feedforward gain
 *
 * Improves tracking performance.
 *
 * @unit Nm/(rad/s)
 * @min 0.0
 * @decimal 4
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_FF, 0.0f);

/**
 * Body X axis angular velocity controller gain
 *
 * Global gain of the controller.
 *
 * This gain scales the P, I and D terms of the controller:
 * output = AVC_X_K * (AVC_X_P * error
 * 			+ AVC_X_I * error_integral
 * 			+ AVC_X_D * error_derivative)
 * Set AVC_X_P=1 to implement a PID in the ideal form.
 * Set AVC_X_K=1 to implement a PID in the parallel form.
 *
 * @min 0.0
 * @max 5.0
 * @decimal 4
 * @increment 0.0005
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_X_K, 1.0f);

/**
 * Body Y axis angular velocity P gain
 *
 * Body Y axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
 *
 * @unit 1/s
 * @min 0.0
 * @max 20.0
 * @decimal 3
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_P, 18.f);

/**
 * Body Y axis angular velocity I gain
 *
 * Body Y axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
 *
 * @unit Nm/rad
 * @min 0.0
 * @decimal 3
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_I, 0.2f);

/**
 * Body Y axis angular velocity integrator limit
 *
 * Body Y axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large pitch moment trim changes.
 *
 * @unit Nm
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_I_LIM, 0.3f);

/**
 * Body Y axis angular velocity D gain
 *
 * Body Y axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 *
 * @min 0.0
 * @max 2.0
 * @decimal 4
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_D, 0.36f);

/**
 * Body Y axis angular velocity feedforward
 *
 * Improves tracking performance.
 *
 * @unit Nm/(rad/s)
 * @min 0.0
 * @decimal 4
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_FF, 0.0f);

/**
 * Body Y axis angular velocity controller gain
 *
 * Global gain of the controller.
 *
 * This gain scales the P, I and D terms of the controller:
 * output = AVC_Y_K * (AVC_Y_P * error
 * 			     + AVC_Y_I * error_integral
 * 			     + AVC_Y_D * error_derivative)
 * Set AVC_Y_P=1 to implement a PID in the ideal form.
 * Set AVC_Y_K=1 to implement a PID in the parallel form.
 *
 * @min 0.0
 * @max 20.0
 * @decimal 4
 * @increment 0.0005
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Y_K, 1.0f);

/**
 * Body Z axis angular velocity P gain
 *
 * Body Z axis angular velocity proportional gain, i.e. control output for angular speed error 1 rad/s.
 *
 * @unit 1/s
 * @min 0.0
 * @max 20.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_P, 7.f);

/**
 * Body Z axis angular velocity I gain
 *
 * Body Z axis angular velocity integral gain. Can be set to compensate static thrust difference or gravity center offset.
 *
 * @unit Nm/rad
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_I, 0.1f);

/**
 * Body Z axis angular velocity integrator limit
 *
 * Body Z axis angular velocity integrator limit. Can be set to increase the amount of integrator available to counteract disturbances or reduced to improve settling time after large yaw moment trim changes.
 *
 * @unit Nm
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_I_LIM, 0.30f);

/**
 * Body Z axis angular velocity D gain
 *
 * Body Z axis angular velocity differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
 *
 * @min 0.0
 * @max 2.0
 * @decimal 2
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_D, 0.0f);

/**
 * Body Z axis angular velocity feedforward
 *
 * Improves tracking performance.
 *
 * @unit Nm/(rad/s)
 * @min 0.0
 * @decimal 4
 * @increment 0.01
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_FF, 0.0f);

/**
 * Body Z axis angular velocity controller gain
 *
 * Global gain of the controller.
 *
 * This gain scales the P, I and D terms of the controller:
 * output = AVC_Z_K * (AVC_Z_P * error
 * 			     + AVC_Z_I * error_integral
 * 			     + AVC_Z_D * error_derivative)
 * Set AVC_Z_P=1 to implement a PID in the ideal form.
 * Set AVC_Z_K=1 to implement a PID in the parallel form.
 *
 * @min 0.0
 * @max 5.0
 * @decimal 4
 * @increment 0.0005
 * @group Angular Velocity Control
 */
PARAM_DEFINE_FLOAT(AVC_Z_K, 1.0f);