navigation_default_config.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
 * All rights reserved.
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/*******************************************************************************
 * \file navigation_default_config.h
 * 
 * \author MAV'RIC Team
 * 
 * \brief  This file configures the PID gains for the navigation speed command
 *   
 ******************************************************************************/


#ifndef NAVIGATION_DEFAULT_CONFIG_H_
#define NAVIGATION_DEFAULT_CONFIG_H_

#ifdef __cplusplus
    extern "C" {
#endif

#include "pid_controller.h"


navigation_config_t navigation_default_config =
{
    .dist2vel_gain = 0.7f,
    .cruise_speed = 3.0f,
    .max_climb_rate = 1.0f,
    .soft_zone_size = 0.0f,
    .alt_lpf = 0.0f,
    .LPF_gain = 0.9f,
    .wpt_nav_controller = 
    {
        .p_gain = 0.7f,
        .clip_min = 0.0f,
        .clip_max = 3.0f,
        .integrator={
            .pregain = 0.5f,
            .postgain = 0.0f,
            .accumulator = 0.0f,
            .clip = 0.65f,
        },
        .differentiator={
            .gain = 0.2f,
            .previous = 0.0f,
            .clip = 0.65f
        },
        .output = 0.0f,
        .error = 0.0f,
        .last_update = 0.0f,
        .dt = 1,
        .soft_zone_width = 0.0f
    },
    .hovering_controller = 
    {
        .p_gain = 0.2f,
        .clip_min = 0.0f,
        .clip_max = 3.0f,
        .integrator={
            .pregain = 0.5f,
            .postgain = 0.0f,
            .accumulator = 0.0f,
            .clip = 0.65f,
        },
        .differentiator={
            .gain = 0.4f,
            .previous = 0.0f,
            .clip = 0.65f
        },
        .output = 0.0f,
        .error = 0.0f,
        .last_update = 0.0f,
        .dt = 1,
        .soft_zone_width = 0.0f
    }
};

#ifdef __cplusplus
}
#endif

#endif /* NAVIGATION_DEFAULT_CONFIG_H_ */