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Rename control parameters (breaking)

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Divide all parameters into attitude (ATT) and rates (RATES) control groups, which is more obvious and clear.
This commit is contained in:
Oleg Kalachev
2026-08-17 01:11:52 +03:00
parent bbe753add0
commit 18933a3569
2 changed files with 25 additions and 29 deletions
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docs/usage.md
+1 -1
View File
@@ -252,7 +252,7 @@ There are several ways to control the drone's flight: using **smartphone** (Wi-F
6. Use the virtual joystick to fly the drone!
> [!TIP]
> Decrease `CTL_TILT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
> Decrease `CTL_ATT_MAX` parameter when flying using the smartphone to make the controls less sensitive.
### Control with a remote control
flix/parameters.ino
+24 -28
View File
@@ -29,32 +29,28 @@ struct Parameter {
Parameter parameters[] = {
// control
{"CTL_R_RATE_P", &rollRatePID.p},
{"CTL_R_RATE_I", &rollRatePID.i},
{"CTL_R_RATE_D", &rollRatePID.d},
{"CTL_R_RATE_WU", &rollRatePID.windup},
{"CTL_R_RATE_D_A", &rollRatePID.lpf.alpha},
{"CTL_P_RATE_P", &pitchRatePID.p},
{"CTL_P_RATE_I", &pitchRatePID.i},
{"CTL_P_RATE_D", &pitchRatePID.d},
{"CTL_P_RATE_WU", &pitchRatePID.windup},
{"CTL_P_RATE_D_A", &pitchRatePID.lpf.alpha},
{"CTL_Y_RATE_P", &yawRatePID.p},
{"CTL_Y_RATE_I", &yawRatePID.i},
{"CTL_Y_RATE_D", &yawRatePID.d},
{"CTL_Y_RATE_WU", &yawRatePID.windup},
{"CTL_Y_RATE_D_A", &yawRatePID.lpf.alpha},
{"CTL_R_P", &rollPID.p},
{"CTL_R_I", &rollPID.i},
{"CTL_R_D", &rollPID.d},
{"CTL_P_P", &pitchPID.p},
{"CTL_P_I", &pitchPID.i},
{"CTL_P_D", &pitchPID.d},
{"CTL_Y_P", &yawPID.p},
{"CTL_P_RATE_MAX", &maxRate.y},
{"CTL_R_RATE_MAX", &maxRate.x},
{"CTL_Y_RATE_MAX", &maxRate.z},
{"CTL_TILT_MAX", &tiltMax},
{"CTL_RATE_R_P", &rollRatePID.p},
{"CTL_RATE_R_I", &rollRatePID.i},
{"CTL_RATE_R_D", &rollRatePID.d},
{"CTL_RATE_R_WU", &rollRatePID.windup},
{"CTL_RATE_R_D_A", &rollRatePID.lpf.alpha},
{"CTL_RATE_P_P", &pitchRatePID.p},
{"CTL_RATE_P_I", &pitchRatePID.i},
{"CTL_RATE_P_D", &pitchRatePID.d},
{"CTL_RATE_P_WU", &pitchRatePID.windup},
{"CTL_RATE_P_D_A", &pitchRatePID.lpf.alpha},
{"CTL_RATE_Y_P", &yawRatePID.p},
{"CTL_RATE_Y_I", &yawRatePID.i},
{"CTL_RATE_Y_D", &yawRatePID.d},
{"CTL_RATE_Y_WU", &yawRatePID.windup},
{"CTL_RATE_Y_D_A", &yawRatePID.lpf.alpha},
{"CTL_RATE_P_MAX", &maxRate.y},
{"CTL_RATE_R_MAX", &maxRate.x},
{"CTL_RATE_Y_MAX", &maxRate.z},
{"CTL_ATT_R_P", &rollPID.p},
{"CTL_ATT_P_P", &pitchPID.p},
{"CTL_ATT_Y_P", &yawPID.p},
{"CTL_ATT_MAX", &tiltMax},
{"CTL_FLT_MODE_0", &flightModes[0]},
{"CTL_FLT_MODE_1", &flightModes[1]},
{"CTL_FLT_MODE_2", &flightModes[2]},
@@ -82,8 +78,8 @@ Parameter parameters[] = {
{"EST_ACC_WEIGHT", &accWeight},
{"EST_LVL_WEIGHT", &levelWeight},
{"EST_RATES_LPF_A", &ratesFilter.alpha},
{"EST_RATES_NF_F", &ratesNotch.frequency, setupEstimate},
{"EST_RATES_NF_BW", &ratesNotch.bandwidth, setupEstimate},
{"EST_RATES_NO_F", &ratesNotch.frequency, setupEstimate},
{"EST_RATES_NO_BW", &ratesNotch.bandwidth, setupEstimate},
// motors
{"MOT_PIN_FL", &motorPins[MOTOR_FRONT_LEFT], setupMotors},
{"MOT_PIN_FR", &motorPins[MOTOR_FRONT_RIGHT], setupMotors},