mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 07:28:54 +08:00
refactor(vtol_att_control): convert params.c to module.yaml
Convert 3 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
@@ -39,4 +39,8 @@ px4_add_module(
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vtol_type.cpp
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tailsitter.cpp
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standard.cpp
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MODULE_CONFIG
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standard_params.yaml
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tiltrotor_params.yaml
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vtol_att_control_params.yaml
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)
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@@ -1,107 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
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****************************************************************************/
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/**
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* @file standard_params.c
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* Parameters for the standard VTOL controller.
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*
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* @author Simon Wilks <simon@uaventure.com>
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* @author Roman Bapst <roman@px4.io>
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*/
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/**
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* Use fixed-wing actuation in hover to accelerate forward
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*
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* Prevents downforce from pitching the body down when facing wind.
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* Uses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead.
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* Only active if demanded pitch is below VT_PITCH_MIN.
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* Use VT_FWD_THRUST_SC to tune it.
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* Descend mode is treated as Landing too.
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*
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* Only active (if enabled) in height-rate controlled modes.
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*
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* @value 0 Disabled
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* @value 1 Enabled (except LANDING)
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* @value 2 Enabled if above MPC_LAND_ALT1
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* @value 3 Enabled if above MPC_LAND_ALT2
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* @value 4 Enabled constantly
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* @value 5 Enabled if above MPC_LAND_ALT1 (except LANDING)
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* @value 6 Enabled if above MPC_LAND_ALT2 (except LANDING)
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*
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
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/**
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* Fixed-wing actuation thrust scale in hover
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*
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* Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode.
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* Enabled via VT_FWD_THRUST_EN.
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*
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* @min 0.0
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* @max 5.0
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* @increment 0.01
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* @decimal 2
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
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/**
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* Back transition MC motor ramp up time
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*
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* This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
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*
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* @unit s
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* @min 0.0
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* @max 20.0
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* @increment 0.1
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* @decimal 1
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
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/**
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* Pusher throttle ramp up slew rate
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*
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* Defines the slew rate of the puller/pusher throttle during transitions.
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* Zero will deactivate the slew rate limiting and thus produce an instant throttle
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* rise to the transition throttle VT_F_TRANS_THR.
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*
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* @unit 1/s
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* @min 0
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* @increment 0.01
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* @decimal 2
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_PSHER_SLEW, 0.33f);
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@@ -0,0 +1,62 @@
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module_name: vtol_att_control
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parameters:
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- group: VTOL Attitude Control
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definitions:
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VT_FWD_THRUST_EN:
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description:
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short: Use fixed-wing actuation in hover to accelerate forward
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long: |-
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Prevents downforce from pitching the body down when facing wind.
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Uses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead.
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Only active if demanded pitch is below VT_PITCH_MIN.
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Use VT_FWD_THRUST_SC to tune it.
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Descend mode is treated as Landing too.
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Only active (if enabled) in height-rate controlled modes.
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type: enum
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values:
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0: Disabled
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1: Enabled (except LANDING)
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2: Enabled if above MPC_LAND_ALT1
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3: Enabled if above MPC_LAND_ALT2
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4: Enabled constantly
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5: Enabled if above MPC_LAND_ALT1 (except LANDING)
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6: Enabled if above MPC_LAND_ALT2 (except LANDING)
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default: 0
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VT_FWD_THRUST_SC:
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description:
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short: Fixed-wing actuation thrust scale in hover
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long: |-
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Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode.
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Enabled via VT_FWD_THRUST_EN.
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type: float
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default: 0.7
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min: 0.0
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max: 5.0
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increment: 0.01
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decimal: 2
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VT_B_TRANS_RAMP:
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description:
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short: Back transition MC motor ramp up time
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long: This sets the duration during which the MC motors ramp up to the commanded
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thrust during the back transition stage.
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type: float
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default: 3.0
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unit: s
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min: 0.0
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max: 20.0
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increment: 0.1
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decimal: 1
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VT_PSHER_SLEW:
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description:
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short: Pusher throttle ramp up slew rate
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long: |-
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Defines the slew rate of the puller/pusher throttle during transitions.
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Zero will deactivate the slew rate limiting and thus produce an instant throttle
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rise to the transition throttle VT_F_TRANS_THR.
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type: float
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default: 0.33
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unit: 1/s
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min: 0
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increment: 0.01
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decimal: 2
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@@ -1,100 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
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****************************************************************************/
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|
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/**
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* @file tiltrotor_params.c
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* Parameters for vtol attitude controller.
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*
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* @author Roman Bapst <roman@px4.io>
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*/
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/**
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* Normalized tilt in Hover
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f);
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/**
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* Normalized tilt in transition to FW
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.4f);
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/**
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* Normalized tilt in FW
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
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/**
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* Duration of front transition phase 2
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*
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* Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.
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*
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* @unit s
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* @min 0.1
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* @max 5.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
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/**
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* Duration motor tilt up in backtransition
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*
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* Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
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*
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* @unit s
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* @min 0.1
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* @max 10
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* @increment 0.1
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* @decimal 1
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_BT_TILT_DUR, 1.f);
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@@ -0,0 +1,53 @@
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module_name: vtol_att_control
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parameters:
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- group: VTOL Attitude Control
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definitions:
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VT_TILT_MC:
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description:
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short: Normalized tilt in Hover
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type: float
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default: 0.0
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min: 0.0
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max: 1.0
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increment: 0.01
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decimal: 3
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VT_TILT_TRANS:
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description:
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short: Normalized tilt in transition to FW
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type: float
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default: 0.4
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min: 0.0
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max: 1.0
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increment: 0.01
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decimal: 3
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VT_TILT_FW:
|
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description:
|
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short: Normalized tilt in FW
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type: float
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default: 1.0
|
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min: 0.0
|
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max: 1.0
|
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increment: 0.01
|
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decimal: 3
|
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VT_TRANS_P2_DUR:
|
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description:
|
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short: Duration of front transition phase 2
|
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long: Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.
|
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type: float
|
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default: 0.5
|
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unit: s
|
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min: 0.1
|
||||
max: 5.0
|
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increment: 0.01
|
||||
decimal: 3
|
||||
VT_BT_TILT_DUR:
|
||||
description:
|
||||
short: Duration motor tilt up in backtransition
|
||||
long: Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
|
||||
type: float
|
||||
default: 1.0
|
||||
unit: s
|
||||
min: 0.1
|
||||
max: 10
|
||||
increment: 0.1
|
||||
decimal: 1
|
||||
@@ -1,395 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2014-2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file vtol_att_control_params.c
|
||||
* Parameters for vtol attitude controller.
|
||||
*
|
||||
* @author Roman Bapst <roman@px4.io>
|
||||
* @author Sander Smeets <sander@droneslab.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
|
||||
*
|
||||
* @value 0 Tailsitter
|
||||
* @value 1 Tiltrotor
|
||||
* @value 2 Standard
|
||||
* @min 0
|
||||
* @max 2
|
||||
* @reboot_required true
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_TYPE, 0);
|
||||
|
||||
/**
|
||||
* Lock control surfaces in hover
|
||||
*
|
||||
* If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.
|
||||
*
|
||||
* @boolean
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 1);
|
||||
|
||||
/**
|
||||
* Duration of a front transition
|
||||
*
|
||||
* Time in seconds used for a transition
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.1
|
||||
* @max 20.00
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
|
||||
|
||||
/**
|
||||
* Maximum duration of a back transition
|
||||
*
|
||||
* Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.1
|
||||
* @max 20.00
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 10.0f);
|
||||
|
||||
/**
|
||||
* Target throttle value for the transition to fixed-wing flight.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @increment 0.01
|
||||
* @decimal 3
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f);
|
||||
|
||||
/**
|
||||
* Approximate deceleration during back transition
|
||||
*
|
||||
* Used to calculate back transition distance in an auto mode.
|
||||
* For standard vtol and tiltrotors a controller is used to track this value during the transition.
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 0.5
|
||||
* @max 10
|
||||
* @increment 0.1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_B_DEC_MSS, 2.0f);
|
||||
|
||||
/**
|
||||
* Transition blending airspeed
|
||||
*
|
||||
* Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.00
|
||||
* @max 30.00
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_ARSP_BLEND, 8.0f);
|
||||
|
||||
/**
|
||||
* Transition airspeed
|
||||
*
|
||||
* Airspeed at which we can switch to fw mode
|
||||
*
|
||||
* @unit m/s
|
||||
* @min 0.00
|
||||
* @max 30.00
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
|
||||
|
||||
/**
|
||||
* Front transition timeout
|
||||
*
|
||||
* Time in seconds after which transition will be cancelled.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.1
|
||||
* @max 30.00
|
||||
* @increment 1
|
||||
* @decimal 2
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
|
||||
|
||||
/**
|
||||
* Front transition minimum time
|
||||
*
|
||||
* Minimum time in seconds for front transition.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 20.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
|
||||
|
||||
/**
|
||||
* Quad-chute altitude
|
||||
*
|
||||
* Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode
|
||||
* and the altitude drops below this altitude (relative altitude above local origin),
|
||||
* it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @max 200.0
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f);
|
||||
|
||||
/**
|
||||
* Quad-chute uncommanded descent threshold
|
||||
*
|
||||
* Altitude error threshold for quad-chute triggering during fixed-wing flight.
|
||||
* The check is only active if altitude is controlled and the vehicle is below the current altitude reference.
|
||||
* The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current
|
||||
* altitude reference.
|
||||
*
|
||||
* Set to 0 do disable.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @max 200.0
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_QC_ALT_LOSS, 0.0f);
|
||||
|
||||
/**
|
||||
* Quad-chute transition altitude loss threshold
|
||||
*
|
||||
* Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight
|
||||
* in altitude-controlled flight modes.
|
||||
* Active until 5s after completing transition to fixed-wing.
|
||||
* If the current altitude is more than this value below the altitude at the beginning of the
|
||||
* transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
*
|
||||
* Set to 0 do disable this threshold.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @max 50
|
||||
* @increment 1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_QC_T_ALT_LOSS, 20.0f);
|
||||
|
||||
/**
|
||||
* Quad-chute max pitch threshold
|
||||
*
|
||||
* Absolute pitch threshold for quad-chute triggering in FW mode.
|
||||
* Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
* Set to 0 do disable this threshold.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0
|
||||
* @max 180
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
|
||||
|
||||
/**
|
||||
* Quad-chute max roll threshold
|
||||
*
|
||||
* Absolute roll threshold for quad-chute triggering in FW mode.
|
||||
* Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
* Set to 0 do disable this threshold.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0
|
||||
* @max 180
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
|
||||
|
||||
/**
|
||||
* Quad-chute maximum height
|
||||
*
|
||||
* Maximum height above the ground (if available, otherwise above
|
||||
* Home if available, otherwise above the local origin) where triggering a quad-chute is possible.
|
||||
* At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0
|
||||
* @increment 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_HMAX, 0);
|
||||
|
||||
/**
|
||||
* Airspeed-less front transition time (open loop)
|
||||
*
|
||||
* The duration of the front transition when there is no airspeed feedback available.
|
||||
* When airspeed is used, transition timeout is declared if airspeed does not
|
||||
* reach VT_ARSP_BLEND after this time.
|
||||
*
|
||||
* @unit s
|
||||
* @min 1.0
|
||||
* @max 30.0
|
||||
* @increment 0.5
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_F_TR_OL_TM, 6.0f);
|
||||
|
||||
/**
|
||||
* Differential thrust in forwards flight.
|
||||
*
|
||||
* Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode.
|
||||
* The effectiveness of differential thrust around the corresponding axis can be
|
||||
* tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.
|
||||
*
|
||||
* @min 0
|
||||
* @max 7
|
||||
* @bit 0 Yaw
|
||||
* @bit 1 Roll
|
||||
* @bit 2 Pitch
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
|
||||
|
||||
/**
|
||||
* Roll differential thrust factor in forward flight
|
||||
*
|
||||
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_R, 1.f);
|
||||
|
||||
/**
|
||||
* Pitch differential thrust factor in forward flight
|
||||
*
|
||||
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_P, 1.f);
|
||||
|
||||
/**
|
||||
* Yaw differential thrust factor in forward flight
|
||||
*
|
||||
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_Y, 0.1f);
|
||||
|
||||
/**
|
||||
* Backtransition deceleration setpoint to tilt I gain.
|
||||
*
|
||||
* @unit rad s/m
|
||||
* @min 0
|
||||
* @max 0.3
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f);
|
||||
|
||||
/**
|
||||
* Minimum pitch angle during hover.
|
||||
*
|
||||
* Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if
|
||||
* VT_FWD_TRHUST_EN is set.
|
||||
*
|
||||
* @unit deg
|
||||
* @min -10.0
|
||||
* @max 45.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_PITCH_MIN, 0.0f);
|
||||
|
||||
/**
|
||||
* Minimum pitch angle during hover landing.
|
||||
*
|
||||
* Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
|
||||
* During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.
|
||||
*
|
||||
* @unit deg
|
||||
* @min -10.0
|
||||
* @max 45.0
|
||||
* @increment 0.1
|
||||
* @decimal 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_LND_PITCH_MIN, 0.0f);
|
||||
|
||||
/**
|
||||
* Spoiler setting while landing (hover)
|
||||
*
|
||||
* @unit norm
|
||||
* @min -1
|
||||
* @max 1
|
||||
* @decimal 1
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_SPOILER_MC_LD, 0.f);
|
||||
@@ -0,0 +1,302 @@
|
||||
module_name: vtol_att_control
|
||||
parameters:
|
||||
- group: VTOL Attitude Control
|
||||
definitions:
|
||||
VT_TYPE:
|
||||
description:
|
||||
short: VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
|
||||
type: enum
|
||||
values:
|
||||
0: Tailsitter
|
||||
1: Tiltrotor
|
||||
2: Standard
|
||||
default: 0
|
||||
min: 0
|
||||
max: 2
|
||||
reboot_required: true
|
||||
VT_ELEV_MC_LOCK:
|
||||
description:
|
||||
short: Lock control surfaces in hover
|
||||
long: If set to 1 the control surfaces are locked at the disarmed value in
|
||||
multicopter mode.
|
||||
type: boolean
|
||||
default: 1
|
||||
VT_F_TRANS_DUR:
|
||||
description:
|
||||
short: Duration of a front transition
|
||||
long: Time in seconds used for a transition
|
||||
type: float
|
||||
default: 5.0
|
||||
unit: s
|
||||
min: 0.1
|
||||
max: 20.0
|
||||
increment: 1
|
||||
decimal: 2
|
||||
VT_B_TRANS_DUR:
|
||||
description:
|
||||
short: Maximum duration of a back transition
|
||||
long: Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.
|
||||
type: float
|
||||
default: 10.0
|
||||
unit: s
|
||||
min: 0.1
|
||||
max: 20.0
|
||||
increment: 1
|
||||
decimal: 2
|
||||
VT_F_TRANS_THR:
|
||||
description:
|
||||
short: Target throttle value for the transition to fixed-wing flight
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
increment: 0.01
|
||||
decimal: 3
|
||||
VT_B_DEC_MSS:
|
||||
description:
|
||||
short: Approximate deceleration during back transition
|
||||
long: |-
|
||||
Used to calculate back transition distance in an auto mode.
|
||||
For standard vtol and tiltrotors a controller is used to track this value during the transition.
|
||||
type: float
|
||||
default: 2.0
|
||||
unit: m/s^2
|
||||
min: 0.5
|
||||
max: 10
|
||||
increment: 0.1
|
||||
decimal: 2
|
||||
VT_ARSP_BLEND:
|
||||
description:
|
||||
short: Transition blending airspeed
|
||||
long: Airspeed at which we can start blending both fw and mc controls. Set
|
||||
to 0 to disable.
|
||||
type: float
|
||||
default: 8.0
|
||||
unit: m/s
|
||||
min: 0.0
|
||||
max: 30.0
|
||||
increment: 1
|
||||
decimal: 2
|
||||
VT_ARSP_TRANS:
|
||||
description:
|
||||
short: Transition airspeed
|
||||
long: Airspeed at which we can switch to fw mode
|
||||
type: float
|
||||
default: 10.0
|
||||
unit: m/s
|
||||
min: 0.0
|
||||
max: 30.0
|
||||
increment: 1
|
||||
decimal: 2
|
||||
VT_TRANS_TIMEOUT:
|
||||
description:
|
||||
short: Front transition timeout
|
||||
long: Time in seconds after which transition will be cancelled.
|
||||
type: float
|
||||
default: 15.0
|
||||
unit: s
|
||||
min: 0.1
|
||||
max: 30.0
|
||||
increment: 1
|
||||
decimal: 2
|
||||
VT_TRANS_MIN_TM:
|
||||
description:
|
||||
short: Front transition minimum time
|
||||
long: Minimum time in seconds for front transition.
|
||||
type: float
|
||||
default: 2.0
|
||||
unit: s
|
||||
min: 0.0
|
||||
max: 20.0
|
||||
increment: 0.1
|
||||
decimal: 1
|
||||
VT_FW_MIN_ALT:
|
||||
description:
|
||||
short: Quad-chute altitude
|
||||
long: |-
|
||||
Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode
|
||||
and the altitude drops below this altitude (relative altitude above local origin),
|
||||
it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: m
|
||||
min: 0.0
|
||||
max: 200.0
|
||||
increment: 1
|
||||
decimal: 1
|
||||
VT_QC_ALT_LOSS:
|
||||
description:
|
||||
short: Quad-chute uncommanded descent threshold
|
||||
long: |-
|
||||
Altitude error threshold for quad-chute triggering during fixed-wing flight.
|
||||
The check is only active if altitude is controlled and the vehicle is below the current altitude reference.
|
||||
The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current
|
||||
altitude reference.
|
||||
|
||||
Set to 0 do disable.
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: m
|
||||
min: 0.0
|
||||
max: 200.0
|
||||
increment: 1
|
||||
decimal: 1
|
||||
VT_QC_T_ALT_LOSS:
|
||||
description:
|
||||
short: Quad-chute transition altitude loss threshold
|
||||
long: |-
|
||||
Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight
|
||||
in altitude-controlled flight modes.
|
||||
Active until 5s after completing transition to fixed-wing.
|
||||
If the current altitude is more than this value below the altitude at the beginning of the
|
||||
transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
|
||||
Set to 0 do disable this threshold.
|
||||
type: float
|
||||
default: 20.0
|
||||
unit: m
|
||||
min: 0
|
||||
max: 50
|
||||
increment: 1
|
||||
decimal: 1
|
||||
VT_FW_QC_P:
|
||||
description:
|
||||
short: Quad-chute max pitch threshold
|
||||
long: |-
|
||||
Absolute pitch threshold for quad-chute triggering in FW mode.
|
||||
Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
Set to 0 do disable this threshold.
|
||||
type: int32
|
||||
default: 0
|
||||
unit: deg
|
||||
min: 0
|
||||
max: 180
|
||||
VT_FW_QC_R:
|
||||
description:
|
||||
short: Quad-chute max roll threshold
|
||||
long: |-
|
||||
Absolute roll threshold for quad-chute triggering in FW mode.
|
||||
Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
|
||||
Set to 0 do disable this threshold.
|
||||
type: int32
|
||||
default: 0
|
||||
unit: deg
|
||||
min: 0
|
||||
max: 180
|
||||
VT_FW_QC_HMAX:
|
||||
description:
|
||||
short: Quad-chute maximum height
|
||||
long: |-
|
||||
Maximum height above the ground (if available, otherwise above
|
||||
Home if available, otherwise above the local origin) where triggering a quad-chute is possible.
|
||||
At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
|
||||
type: int32
|
||||
default: 0
|
||||
unit: m
|
||||
min: 0
|
||||
increment: 1
|
||||
VT_F_TR_OL_TM:
|
||||
description:
|
||||
short: Airspeed-less front transition time (open loop)
|
||||
long: |-
|
||||
The duration of the front transition when there is no airspeed feedback available.
|
||||
When airspeed is used, transition timeout is declared if airspeed does not
|
||||
reach VT_ARSP_BLEND after this time.
|
||||
type: float
|
||||
default: 6.0
|
||||
unit: s
|
||||
min: 1.0
|
||||
max: 30.0
|
||||
increment: 0.5
|
||||
decimal: 1
|
||||
VT_FW_DIFTHR_EN:
|
||||
description:
|
||||
short: Differential thrust in forwards flight
|
||||
long: |-
|
||||
Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode.
|
||||
The effectiveness of differential thrust around the corresponding axis can be
|
||||
tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.
|
||||
type: bitmask
|
||||
bit:
|
||||
0: Yaw
|
||||
1: Roll
|
||||
2: Pitch
|
||||
default: 0
|
||||
min: 0
|
||||
max: 7
|
||||
VT_FW_DIFTHR_S_R:
|
||||
description:
|
||||
short: Roll differential thrust factor in forward flight
|
||||
long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
VT_FW_DIFTHR_S_P:
|
||||
description:
|
||||
short: Pitch differential thrust factor in forward flight
|
||||
long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
type: float
|
||||
default: 1.0
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
VT_FW_DIFTHR_S_Y:
|
||||
description:
|
||||
short: Yaw differential thrust factor in forward flight
|
||||
long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
|
||||
type: float
|
||||
default: 0.1
|
||||
min: 0.0
|
||||
max: 2.0
|
||||
decimal: 2
|
||||
increment: 0.1
|
||||
VT_B_DEC_I:
|
||||
description:
|
||||
short: Backtransition deceleration setpoint to tilt I gain
|
||||
type: float
|
||||
default: 0.1
|
||||
unit: rad s/m
|
||||
min: 0
|
||||
max: 0.3
|
||||
decimal: 2
|
||||
increment: 0.05
|
||||
VT_PITCH_MIN:
|
||||
description:
|
||||
short: Minimum pitch angle during hover
|
||||
long: |-
|
||||
Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if
|
||||
VT_FWD_TRHUST_EN is set.
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: deg
|
||||
min: -10.0
|
||||
max: 45.0
|
||||
increment: 0.1
|
||||
decimal: 1
|
||||
VT_LND_PITCH_MIN:
|
||||
description:
|
||||
short: Minimum pitch angle during hover landing
|
||||
long: |-
|
||||
Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
|
||||
During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: deg
|
||||
min: -10.0
|
||||
max: 45.0
|
||||
increment: 0.1
|
||||
decimal: 1
|
||||
VT_SPOILER_MC_LD:
|
||||
description:
|
||||
short: Spoiler setting while landing (hover)
|
||||
type: float
|
||||
default: 0.0
|
||||
unit: norm
|
||||
min: -1
|
||||
max: 1
|
||||
decimal: 1
|
||||
increment: 0.1
|
||||
Reference in New Issue
Block a user