guidance_pid_rotorcraft
Basic guidance code for rotorcraft with PID control
GUIDANCE_H_ |
||
|---|---|---|
Name |
Value |
Description |
MAX_BANK |
20 |
maximum commanded bank angle |
PGAIN |
79 |
feedback horizontal control P gain |
DGAIN |
100 |
feedback horizontal control D gain |
IGAIN |
30 |
feedback horizontal control I gain |
GUIDANCE_V_ |
||
|---|---|---|
Name |
Value |
Description |
HOVER_KP |
283 |
feedback vertical control P gain |
HOVER_KD |
82 |
feedback vertical control D gain |
HOVER_KI |
13 |
feedback vertical control I gain |
NOMINAL_HOVER_THROTTLE |
0.655 |
nominal throttle at hover (between 0 and 1) |
ADAPT_THROTTLE_ENABLED |
FALSE|TRUE |
enable adaptive control by default |
Depends
- @stabilization
- guidance_rotorcraft
Provides
- guidance
- attitude_command