File content as of revision 17:f682b4a5686d:

#ifndef Parameters_h
#define Parameters_h

// Interrupt frequencies
const float f = 500.0f;             // Hz
const float f_range = 20.0f;        // Hz 
const float f_flow = 200.0f;        // Hz 
const float dt = 1.0f/f;            // s
const float dt_range = 1.0f/f_range;// s
const float dt_flow = 1.0f/f_flow;  // 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_att = 0.01f;        

// Attitude controller time constants
const float T_phi = 0.12f;          // s
const float T_theta = 0.12f;        // 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;  
const float zeta_take_off = 1.4f;     
const float omega_n_take_off = 2.0f;// rad/s
const float K_z_take_off = pow(omega_n_take_off,2.0f);       
const float K_w_take_off = 2.0f*zeta_take_off*omega_n_take_off;  

// Horizontal estimator weighthing (measurement X prediction)
const float rho_hor = 0.5f;   

// Horizontal controller time constants
const float T_u = 2.0f;             // s  
const float T_v = 2.0f;             // s
const float T_u_take_off = 4.0f;    // s  
const float T_v_take_off = 4.0f;    // s

#endif