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refactor(lib/fw_performance_model): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
@@ -34,3 +34,4 @@
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px4_add_library(performance_model
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PerformanceModel.cpp
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)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/performance_model_params.yaml)
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@@ -1,225 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Trim throttle
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*
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* Required throttle (at sea level, standard atmosphere) for level flight at FW_AIRSPD_TRIM
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f);
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/**
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* Throttle at min airspeed
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*
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* Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN
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*
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* Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @increment 0.01
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_THR_ASPD_MIN, 0.f);
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/**
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* Throttle at max airspeed
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*
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* Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX
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*
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* Set to 0 to disable mapping of airspeed to trim throttle.
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @increment 0.01
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_THR_ASPD_MAX, 0.f);
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/**
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* Service ceiling
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*
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* Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of
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* 0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX.
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* Set negative to disable.
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*
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* @min -1.0
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* @unit m
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* @decimal 0
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* @increment 1.0
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_SERVICE_CEIL, -1.0f);
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/**
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* Vehicle base weight.
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*
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* This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value
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* disables trim throttle and minimum airspeed compensation based on weight.
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*
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* @unit kg
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(WEIGHT_BASE, -1.0f);
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/**
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* Vehicle gross weight.
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*
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* This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added
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* or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value
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* disables trim throttle and minimum airspeed compensation based on weight.
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*
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* @unit kg
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* @decimal 1
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* @increment 0.1
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(WEIGHT_GROSS, -1.0f);
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/**
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* Maximum climb rate
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*
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* This is the maximum calibrated climb rate that the aircraft can achieve with
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* the throttle set to FW_THR_MAX and the airspeed set to the
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* trim value. For electric aircraft make sure this number can be
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* achieved towards the end of flight when the battery voltage has reduced.
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*
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* @unit m/s
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* @min 1.0
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
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/**
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* Minimum descent rate
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*
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* This is the minimum calibrated sink rate of the aircraft with the throttle
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* set to THR_MIN and flown at the same airspeed as used
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* to measure FW_T_CLMB_MAX.
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*
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* @unit m/s
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* @min 1.0
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
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/**
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* Trim (Cruise) Airspeed
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*
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* The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
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* this is the default airspeed setpoint that the controller will try to achieve.
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* This value corresponds to the trim airspeed with the default load factor (level flight, default weight).
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*
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* @unit m/s
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* @min 0.5
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
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/**
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* Stall Airspeed (CAS)
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*
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* The stall airspeed (calibrated airspeed) of the vehicle.
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* It is used for airspeed sensor failure detection and for the control
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* surface scaling airspeed limits.
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*
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* @unit m/s
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* @min 0.5
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f);
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/**
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* Minimum Airspeed (CAS)
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*
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* The minimal airspeed (calibrated airspeed) the user is able to command.
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* Further, if the airspeed falls below this value, the TECS controller will try to
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* increase airspeed more aggressively.
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* Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL),
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* with some margin between the stall speed and minimum airspeed.
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* This value corresponds to the desired minimum speed with the default load factor (level flight, default weight),
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* and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
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*
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* @unit m/s
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* @min 0.5
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
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/**
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* Maximum Airspeed (CAS)
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*
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* The maximal airspeed (calibrated airspeed) the user is able to command.
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*
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* @unit m/s
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* @min 0.5
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* @decimal 1
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* @increment 0.5
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
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/**
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* Airspeed scale with full flaps
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*
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* Factor applied to the minimum and stall airspeed when flaps are fully deployed.
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*
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* @min 0.5
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* @max 1
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* @decimal 2
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* @increment 0.01
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* @group FW Performance
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_FLP_SC, 1.f);
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@@ -0,0 +1,169 @@
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module_name: fw_performance_model
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parameters:
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- group: FW Performance
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definitions:
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FW_THR_TRIM:
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description:
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short: Trim throttle
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long: Required throttle (at sea level, standard atmosphere) for level flight
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at FW_AIRSPD_TRIM
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type: float
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default: 0.6
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unit: norm
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min: 0.0
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max: 1.0
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decimal: 2
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increment: 0.01
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FW_THR_ASPD_MIN:
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description:
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short: Throttle at min airspeed
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long: |-
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Required throttle (at sea level, standard atmosphere) for level flight at minimum airspeed FW_AIRSPD_MIN
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Set to 0 to disable mapping of airspeed to trim throttle below FW_AIRSPD_TRIM.
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type: float
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default: 0.0
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min: 0
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max: 1
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decimal: 2
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increment: 0.01
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FW_THR_ASPD_MAX:
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description:
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short: Throttle at max airspeed
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long: |-
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Required throttle (at sea level, standard atmosphere) for level flight at maximum airspeed FW_AIRSPD_MAX
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Set to 0 to disable mapping of airspeed to trim throttle.
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type: float
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default: 0.0
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min: 0
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max: 1
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decimal: 2
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increment: 0.01
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FW_SERVICE_CEIL:
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description:
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short: Service ceiling
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long: |-
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Altitude in standard atmosphere at which the vehicle in normal configuration (WEIGHT_BASE) is still able to achieve a maximum climb rate of
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0.5m/s at maximum throttle (FW_THR_MAX). Used to compensate for air density in FW_T_CLMB_MAX.
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Set negative to disable.
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type: float
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default: -1.0
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min: -1.0
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unit: m
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decimal: 0
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increment: 1.0
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WEIGHT_BASE:
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description:
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short: Vehicle base weight
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long: |-
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This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value
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disables trim throttle and minimum airspeed compensation based on weight.
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type: float
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default: -1.0
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unit: kg
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decimal: 1
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increment: 0.5
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WEIGHT_GROSS:
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description:
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short: Vehicle gross weight
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long: |-
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This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added
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or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value
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disables trim throttle and minimum airspeed compensation based on weight.
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type: float
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default: -1.0
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unit: kg
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decimal: 1
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increment: 0.1
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FW_T_CLMB_MAX:
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description:
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short: Maximum climb rate
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long: |-
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This is the maximum calibrated climb rate that the aircraft can achieve with
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the throttle set to FW_THR_MAX and the airspeed set to the
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trim value. For electric aircraft make sure this number can be
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achieved towards the end of flight when the battery voltage has reduced.
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type: float
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default: 5.0
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unit: m/s
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min: 1.0
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decimal: 1
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increment: 0.5
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FW_T_SINK_MIN:
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description:
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short: Minimum descent rate
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long: |-
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This is the minimum calibrated sink rate of the aircraft with the throttle
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set to THR_MIN and flown at the same airspeed as used
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to measure FW_T_CLMB_MAX.
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type: float
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default: 2.0
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unit: m/s
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min: 1.0
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decimal: 1
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increment: 0.5
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FW_AIRSPD_TRIM:
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description:
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short: Trim (Cruise) Airspeed
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long: |-
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The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
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this is the default airspeed setpoint that the controller will try to achieve.
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This value corresponds to the trim airspeed with the default load factor (level flight, default weight).
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type: float
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default: 15.0
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unit: m/s
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min: 0.5
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decimal: 1
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increment: 0.5
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FW_AIRSPD_STALL:
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description:
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short: Stall Airspeed (CAS)
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long: |-
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The stall airspeed (calibrated airspeed) of the vehicle.
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It is used for airspeed sensor failure detection and for the control
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surface scaling airspeed limits.
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type: float
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default: 7.0
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unit: m/s
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min: 0.5
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decimal: 1
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increment: 0.5
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FW_AIRSPD_MIN:
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description:
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short: Minimum Airspeed (CAS)
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long: |-
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The minimal airspeed (calibrated airspeed) the user is able to command.
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Further, if the airspeed falls below this value, the TECS controller will try to
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increase airspeed more aggressively.
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Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL),
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with some margin between the stall speed and minimum airspeed.
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This value corresponds to the desired minimum speed with the default load factor (level flight, default weight),
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and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE).
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type: float
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default: 10.0
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unit: m/s
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min: 0.5
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decimal: 1
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increment: 0.5
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FW_AIRSPD_MAX:
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description:
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short: Maximum Airspeed (CAS)
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long: The maximal airspeed (calibrated airspeed) the user is able to command.
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type: float
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default: 20.0
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unit: m/s
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min: 0.5
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decimal: 1
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increment: 0.5
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FW_AIRSPD_FLP_SC:
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description:
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short: Airspeed scale with full flaps
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long: Factor applied to the minimum and stall airspeed when flaps are fully
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deployed.
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type: float
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default: 1.0
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min: 0.5
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max: 1
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decimal: 2
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increment: 0.01
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