File content as of revision 12:9fed6f656f88:

#ifndef Parameters_h
#define Parameters_h

// Attitude and position interrupt frequencies
const float f_att = 200.0f;         // Hz
const float f_pos = 20.0f;          // Hz 
const float dt_att = 1.0f/f_att;    // s
const float dt_pos = 1.0f/f_pos;    // s 

// Motor constants 
const float alpha = 1.16e-07f;
const float beta = 7.149e-10f;

// Propeller constants
const float kl = 1.726e-08f;        // N.s^2/rad^2
const float kd = 1.426e-10f;        // N.m.s^2/rad^2

// Quadcopter dimensions
const float l = 0.033f;             // m
const float m = 0.030f;             // kg
const float I_xx = 16.0e-6f;        // kg.m^2
const float I_yy = 16.0e-6f;        // kg.m^2
const float I_zz = 29.0e-6f;        // kg.m^2

// Gravity constant
const float g = 9.81f;              // m/s^2

// Attitude estimator weighthing (accelerometer X gyroscope)
const float rho = 0.02f;        

// Attitude controller time constants
const float T_phi = 0.16f;          // s
const float T_theta = 0.16f;        // s
const float T_psi = 0.2f;           // s
const float T_p = 0.04f;            // s
const float T_q = 0.04f;            // s
const float T_r = 0.1f;             // s

// Vertical estimator weighthing (measurement X prediction)
const float rho_ver = 0.3f;        

// Vertical controller time constants
const float zeta = 0.7f;     
const float omega_n = 2.0f;         // rad/s
const float K_z = pow(omega_n,2.0f);       
const float K_w = 2.0f*zeta*omega_n;  

// Horizontal estimator weighthing (measurement X prediction)
const float rho_hor = 0.1f;   

// Horizontal controller time constants
const float T_u = 2.0f;             // s  
const float T_v = 2.0f;             // s

#endif