uuv_pos_control_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2020 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 uuv_pos_control_params.c
*
* Parameters defined by the position control task for unmanned underwater vehicles (UUVs)
*
* This is a modification of the fixed wing/ground rover params and it is designed for ground rovers.
* It has been developed starting from the fw module, simplified and improved with dedicated items.
*
* All the ackowledgments and credits for the fw wing/rover app are reported in those files.
*
* @author Tim Hansen <t.hansen@jacobs-university.de>
* @author Daniel Duecker <daniel.duecker@tuhh.de>
*/
/*
* Controller parameters, accessible via MAVLink
*
*/
/**
* Gain of P controller X
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_X_P, 1.0f);
/**
* Gain of P controller Y
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_Y_P, 1.0f);
/**
* Gain of P controller Z
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_Z_P, 1.0f);
/**
* Gain of D controller X
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_X_D, 0.2f);
/**
* Gain of D controller Y
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_Y_D, 0.2f);
/**
* Gain of D controller Z
*
* @group UUV Position Control
*/
PARAM_DEFINE_FLOAT(UUV_GAIN_Z_D, 0.2f);
/**
* Stabilization mode(1) or Position Control(0)
*
* @value 0 Position Control
* @value 1 Stabilization Mode
* @group UUV Position Control
*/
PARAM_DEFINE_INT32(UUV_STAB_MODE, 1);