VTOL params meta data

2026-04-14 10:07:39 +08:00 · 2016-02-29 01:08:49 +01:00 · 2016-02-29 01:08:49 +01:00 · 32b7ef5284
commit 32b7ef5284
parent d7254c2b01
1 changed files with 87 additions and 16 deletions
--- a/src/modules/vtol_att_control/vtol_att_control_params.c
+++ b/src/modules/vtol_att_control/vtol_att_control_params.c
@ -36,12 +36,17 @@
 * Parameters for vtol attitude controller.
 *
 * @author Roman Bapst <roman@px4.io>
+ * @author Sander Smeets <sander@droneslab.com>
 */

 /**
 * VTOL number of engines
 *
+ * @unit amount
 * @min 0
+ * @max 8
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
@ -49,7 +54,11 @@ PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
 /**
 * Idle speed of VTOL when in multicopter mode
 *
+ * @unit pulse-width
 * @min 900
+ * @max 2000
+ * @increment 1
+ * @deciml 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
@ -59,7 +68,11 @@ PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 *
 * This is the minimum speed of the air flowing over the control surfaces.
 *
+ * @unit m/s
 * @min 0.0
+ * @max 30.0
+ * @increment 0.5
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN, 10.0f);
@ -69,7 +82,11 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN, 10.0f);
 *
 * This is the maximum speed of the air flowing over the control surfaces.
 *
+ * @unit m/s
 * @min 0.0
+ * @max 30.0
+ * @increment 0.5
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX, 30.0f);
@ -79,7 +96,11 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX, 30.0f);
 *
 * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
 *
+ * @unit m/s
 * @min 0.0
+ * @max 30.0
+ * @increment 0.5
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
@ -90,8 +111,11 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM, 10.0f);
 * If set to one this parameter will cause permanent attitude stabilization in fw mode.
 * This parameter has been introduced for pure convenience sake.
 *
+ * @unit bool
 * @min 0
 * @max 1
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
@ -101,8 +125,11 @@ PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
 *
 * This parameter allows to adjust the neutral elevon position in fixed wing mode.
 *
- * @min -1
- * @max 1
+ * @unit percentage
+ * @min -1.0
+ * @max 1.0
+ * @increment 0.01
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
@ -113,7 +140,11 @@ PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM, 0.0f);
 * Indicates the maximum power the motor is able to produce. Used to calculate
 * propeller efficiency map.
 *
+ * @unit watt
 * @min 1
+ * @max 10000
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
@ -123,8 +154,11 @@ PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
 *
 * Influences propeller efficiency at different power settings. Should be tuned beforehand.
 *
+ * @unit percentage
 * @min 0.0
- * @max 0.9
+ * @max 1.0
+ * @increment 0.01
+ * @decimal 3
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
@ -134,8 +168,11 @@ PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
 *
 * Gain for tuning the low-pass filter for the total airspeed estimate
 *
+ * @unit percentage
 * @min 0.0
- * @max 0.99
+ * @max 1.0
+ * @increment 0.01
+ * @decimal 3
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
@ -143,8 +180,12 @@ PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
 /**
 * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
 *
+ * @unit enum
+ * @values 0=Tailsitter, 1=Tiltrotor, 2=Standard
 * @min 0
 * @max 2
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_TYPE, 0);
@ -154,8 +195,11 @@ PARAM_DEFINE_INT32(VT_TYPE, 0);
 *
 * If set to 1 the elevons are locked in multicopter mode
 *
+ * @unit bool
 * @min 0
 * @max 1
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);
@ -165,8 +209,11 @@ PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);
 *
 * Time in seconds used for a transition
 *
- * @min 0.0
- * @max 5
+ * @unit seconds
+ * @min 0.00
+ * @max 10.00
+ * @increment 1
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 3.0f);
@ -176,8 +223,11 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 3.0f);
 *
 * Time in seconds used for a back transition
 *
- * @min 0.0
- * @max 5
+ * @unit seconds
+ * @min 0.00
+ * @max 10.00
+ * @increment 1
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 2.0f);
@ -187,8 +237,11 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 2.0f);
 *
 * Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
 *
- * @min 0.0
- * @max 20.0
+ * @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);
@ -198,8 +251,11 @@ PARAM_DEFINE_FLOAT(VT_ARSP_BLEND, 8.0f);
 *
 * Airspeed at which we can switch to fw mode
 *
- * @min 1.0
- * @max 20
+ * @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);
@ -207,8 +263,11 @@ PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
 /**
 * Enable optimal recovery strategy for pitch-weak tailsitters
 *
+ * @unit bool
 * @min 0
 * @max 1
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
@ -216,8 +275,11 @@ PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
 /**
 * Enable weather-vane mode landings for missions
 *
+ * @unit bool
 * @min 0
 * @max 1
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_WV_LND_EN, 0);
@ -228,8 +290,11 @@ PARAM_DEFINE_INT32(VT_WV_LND_EN, 0);
 * The desired yawrate from the controller will be scaled in order to avoid
 * yaw fighting against the wind.
 *
- * @min 0
- * @max 1
+ * @unit percentage
+ * @min 0.0
+ * @max 1.0
+ * @increment 0.01
+ * @decimal 3
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_WV_YAWR_SCL, 0.15f);
@ -237,8 +302,11 @@ PARAM_DEFINE_FLOAT(VT_WV_YAWR_SCL, 0.15f);
 /**
 * Enable weather-vane mode for loiter
 *
+ * @unit bool
 * @min 0
 * @max 1
+ * @increment 1
+ * @decimal 0
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);
@ -248,8 +316,11 @@ PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);
 *
 * Time in seconds after which transition will be cancelled. Disabled if set to 0.
 *
- * @min 0.0
- * @max 30.0
+ * @unit seconds
+ * @min 0.00
+ * @max 30.00
+ * @increment 1
+ * @decimal 2
 * @group VTOL Attitude Control
 */
 PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);