/home/travis/build/lis-epfl/MAVRIC_Library/control/attitude_controller_ywing_config.h

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 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
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 * 2. Redistributions in binary form must reproduce the above copyright notice,
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 * may be used to endorse or promote products derived from this software without
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/*******************************************************************************
 * \file attitude_controller_ywing_config.h
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief Configuration for the module attitude_controller for Ywing
 *
 ******************************************************************************/


#ifndef ATTITUDE_CONTROLLER_YWING_CONFIG_H_
#define ATTITUDE_CONTROLLER_YWING_CONFIG_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "control/attitude_controller.h"

static attitude_controller_conf_t attitude_controller_ywing_config =
{
    // #########################################################################
    // ######  RATE CONTROL  ###################################################
    // #########################################################################
    .rate_pid_config =
    {
        // -----------------------------------------------------------------
        // ------ ROLL RATE PID --------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 0.2f,
            .clip_min = -1.0f,
            .clip_max = 1.0f,
            .integrator =
            {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 1.0f,
            },
            .differentiator =
            {
                .gain = 0.002f,
                .previous = 0.0f,
                .clip = 1.0f
            },
            .soft_zone_width = 0.0f,
        },
        // -----------------------------------------------------------------
        // ------ PITCH RATE PID -------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 0.3f,
            .clip_min = -1.0f,
            .clip_max = 1.0f,
            .integrator =
            {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 1.0f,
            },
            .differentiator =
            {
                .gain = 0.002f,
                .previous = 0.0f,
                .clip = 1.0f
            },
            .soft_zone_width = 0.0f,
        },
        // -----------------------------------------------------------------
        // ------ YAW RATE PID ---------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 0.3f,
            .clip_min = -1.0f,
            .clip_max = 1.0f,
            .integrator = {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 1.0f,
            },
            .differentiator = {
                .gain = 0.002f,
                .previous = 0.0f,
                .clip = 1.0f
            },
            .soft_zone_width = 0.0f
        }
    },
    // #########################################################################
    // ######  ANGLE CONTROL  ##################################################
    // #########################################################################
    .angle_pid_config =
    {
        // -----------------------------------------------------------------
        // ------ ROLL ANGLE PID -------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 5.0f,
            .clip_min = -10.0f,
            .clip_max = 10.0f,
            .integrator = {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 10.0f,
            },
            .differentiator = {
                .gain = 0.0f,
                .previous = 0.0f,
                .clip = 10.0f
            },
            .soft_zone_width = 0.0f
        },
        // -----------------------------------------------------------------
        // ------ PITCH ANGLE PID ------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 6.0f,
            .clip_min = -10.0f,
            .clip_max = 10.0f,
            .integrator = {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 10.0f,
            },
            .differentiator = {
                .gain = 0.0f,
                .previous = 0.0f,
                .clip = 10.0f
            },
            .soft_zone_width = 0.0f
        },
        // -----------------------------------------------------------------
        // ------ YAW ANGLE PID --------------------------------------------
        // -----------------------------------------------------------------
        {
            .p_gain = 6.0f,
            .clip_min = -10.0f,
            .clip_max = 10.0f,
            .integrator = {
                .gain = 0.0f,
                .clip_pre = 1.0f,
                .accumulator = 0.0f,
                .clip = 10.0f,
            },
            .differentiator = {
                .gain = 0.0f,
                .previous = 0.0f,
                .clip = 10.0f
            },
            .soft_zone_width = 0.0f
        },
    },
};

#ifdef __cplusplus
}
#endif

#endif // ATTITUDE_CONTROLLER_YWING_CONFIG_H_