<commit_before>#!/usr/bin/env python
PACKAGE = "sub_trajectory"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("depth_vel_P", double_t, 0, "Proportional gain for depth velocity zeroing", 1, 0)
gen.add("depth_pos_P", double_t, 0, "Proportional gain for depth position holding", 1, 0)

gen.add("orientation_vel_P", double_t, 0, "Proportional gain for orientation velocity zeroing", 1, 0)
gen.add("orientation_pos_P", double_t, 0, "Proportional gain for orientation position holding", 0.1, 0)


exit(gen.generate(PACKAGE, "active_stability", "Stability"))<commit_msg>Added PID constants to active stability tuning<commit_after>#!/usr/bin/env python
PACKAGE = "sub_trajectory"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

gen.add("depth_vel_P", double_t, 0, "Proportional gain for depth velocity zeroing", 1, 0)
gen.add("depth_pos_P", double_t, 0, "Proportional gain for depth position holding", 1, 0)
gen.add("depth_pos_I", double_t, 0, "Integral gain for depth position holding", 1, 0)
gen.add("depth_pos_D", double_t, 0, "Derivative gain for depth position holding", 1, 0)
gen.add("depth_pos_Max", double_t, 0, "Maximum force for depth position holding", 5, 0)

gen.add("orientation_vel_P", double_t, 0, "Proportional gain for orientation velocity zeroing", 1, 0)
gen.add("orientation_pos_P", double_t, 0, "Proportional gain for orientation position holding", 1, 0)
gen.add("orientation_pos_I", double_t, 0, "Integral gain for orientation position holding", 0, 0)
gen.add("orientation_pos_D", double_t, 0, "Derivative gain for orientation position holding", 1, 0)
gen.add("orientation_pos_Max", double_t, 0, "Maximum torque for orientation position holding", 1, 0)


exit(gen.generate(PACKAGE, "active_stability", "Stability"))
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