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Commander: improve description of COM_FS EPH, EPV, VEL_EVH params and increase FW and VTOL defaults

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-10-06 12:14:22 +02:00
parent cbc4c35bcf
commit 3ca126cc46
3 changed files with 27 additions and 7 deletions
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4
ROMFS/px4fmu_common/init.d/rc.fw_defaults
View File

@ -14,7 +14,9 @@ param set-default MAV_TYPE 1
# Default parameters for fixed wing UAVs.
#
param set-default COM_POS_FS_DELAY 5
param set-default COM_POS_FS_EPH 15
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default COM_POS_FS_EPV 30
param set-default COM_VEL_FS_EVH 5
# Disable preflight disarm to not interfere with external launching

3
ROMFS/px4fmu_common/init.d/rc.vtol_defaults
View File

@ -10,6 +10,9 @@ set VEHICLE_TYPE vtol
# MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
param set-default COM_POS_FS_EPH 50
param set-default MIS_TAKEOFF_ALT 20
param set-default MIS_YAW_TMT 10

27
src/modules/commander/commander_params.c
View File

@ -714,32 +714,47 @@ PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1);
/**
* Horizontal position error threshold.
*
* This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* This is the horizontal position error (EPH) threshold that will trigger a failsafe.
* The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* If the previous position error was below this threshold, there is an additional
* factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
*
* @unit m
* @min 0
* @decimal 1
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5);
PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5.f);
/**
* Vertical position error threshold.
*
* This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* This is the vertical position error (EPV) threshold that will trigger a failsafe.
* The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* If the previous position error was below this threshold, there is an additional
* factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
*
* @unit m
* @min 0
* @decimal 1
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10);
PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10.f);
/**
* Horizontal velocity error threshold.
*
* This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* This is the horizontal velocity error (EVH) threshold that will trigger a failsafe.
* The default is appropriate for a multicopter. Can be increased for a fixed-wing.
* If the previous velocity error was below this threshold, there is an additional
* factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation).
*
* @unit m/s
* @min 0
* @decimal 1
* @group Commander
*/
PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1);
PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1.f);
/**
* Next flight UUID