velocity_controller_copter_default_config.h

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/*******************************************************************************
 * \file velocity_controller_copter_default_config.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Default configuration for the module velocity_controller_copter
 *
 ******************************************************************************/


#ifndef VELOCITY_CONTROLLER_COPTER_DEFAULT_CONFIG_H_
#define VELOCITY_CONTROLLER_COPTER_DEFAULT_CONFIG_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "velocity_controller_copter.h"

static velocity_controller_copter_conf_t velocity_controller_copter_default_config =
{
    .thrust_hover_point = -0.3,
    .pid_config = 
    {
        // -----------------------------------------------------------------
        // ------ X PID -------------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 0.2f,
            .clip_min = -0.5f,
            .clip_max = 0.5f,
            .integrator={
                .pregain = 1.0f,
                .postgain = 0.5f,
                .accumulator = 0.0f,
                .clip = 0.5f,
            },
            .differentiator={
                .gain = 0.0f,
                .previous = 0.0f,
                .clip = 0.5f
            },
            .soft_zone_width = 0.2f
        },
        // -----------------------------------------------------------------
        // ------ Y PID ------------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 0.2f,
            .clip_min = -0.5f,
            .clip_max = 0.5f,
            .integrator={
                .pregain = 1.0f,
                .postgain = 0.5f,
                .accumulator = 0.0f,
                .clip = 0.5f,
            },
            .differentiator={
                .gain = 0.0f,
                .previous = 0.0f,
                .clip = 0.5f
            },
            .soft_zone_width = 0.2f
        },
        // ---------------------------------------------------------------------
        // ------ Z PID ---------------------------------------------------
        // ---------------------------------------------------------------------
        {
            .p_gain = 0.20f,
            .clip_min = -0.9f,
            .clip_max = 0.65f,
            .integrator={
                .pregain = 0.01f,
                .postgain = 1.0f,
                .accumulator = 0.0f,
                .clip = 1.0f,
            },
            .differentiator={
                .gain = 0.2f,
                .previous = 0.0f,
                .clip = 0.2f
            },
            .soft_zone_width = 0.2f
        },
    },
};

#ifdef __cplusplus
}
#endif

#endif // VELOCITY_CONTROLLER_COPTER_DEFAULT_CONFIG_H_