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refactor(fw_mode_manager): convert params.c to module.yaml

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Convert 3 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-19 23:46:16 -08:00
committed by Jacob Dahl
parent ada9784ba6
commit 4009643c4a
5 changed files with 521 additions and 847 deletions
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src/modules/fw_mode_manager/CMakeLists.txt
+2
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@@ -63,6 +63,8 @@ px4_add_module(
FixedWingModeManager.hpp
ControllerConfigurationHandler.cpp
ControllerConfigurationHandler.hpp
MODULE_CONFIG
fw_mode_manager_params.yaml
DEPENDS
${POSCONTROL_DEPENDENCIES}
)
src/modules/fw_mode_manager/fw_mode_manager_params.c
-638
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@@ -1,638 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2025 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.
*
****************************************************************************/
/**
* NPFG period
*
* Period of NPFG control law.
*
* @unit s
* @min 1.0
* @max 100.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD, 10.0f);
/**
* NPFG damping ratio
*
* Damping ratio of NPFG control law.
*
* @min 0.10
* @max 1.00
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_DAMPING, 0.7f);
/**
* Enable automatic lower bound on the NPFG period
*
* Avoids limit cycling from a too aggressively tuned period/damping combination.
* If false, also disables upper bound NPFG_PERIOD_UB.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_LB_PERIOD, 1);
/**
* Enable automatic upper bound on the NPFG period
*
* Adapts period to maintain track keeping in variable winds and path curvature.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_UB_PERIOD, 1);
/**
* Roll time constant
*
* Time constant of roll controller command / response, modeled as first order delay.
* Used to determine lower period bound. Setting zero disables automatic period bounding.
*
* @unit s
* @min 0.00
* @max 2.00
* @decimal 2
* @increment 0.05
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_ROLL_TC, 0.5f);
/**
* NPFG switch distance multiplier
*
* Multiplied by the track error boundary to determine when the aircraft switches
* to the next waypoint and/or path segment. Should be less than 1.
*
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
/**
* Period safety factor
*
* Multiplied by period for conservative minimum period bounding (when period lower
* bounding is enabled). 1.0 bounds at marginal stability.
*
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
/**
* Minimum pitch angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min -60.0
* @max 0.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
/**
* Maximum pitch angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min 0.0
* @max 80.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
/**
* Maximum roll angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min 35.0
* @max 75.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
/**
* Throttle limit max
*
* Applies in any altitude controlled flight mode.
* Should be set accordingly to achieve FW_T_CLMB_MAX.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
* Applies in any altitude controlled flight mode.
* Usually set to 0 but can be increased to prevent the motor from stopping when
* descending, which can increase achievable descent rates.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Idle throttle
*
* This is the minimum throttle while on the ground ("landed") in auto modes.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
/**
* Maximum landing slope angle
*
* Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.
* Set this value within the vehicle's performance limits.
*
* @unit deg
* @min 1.0
* @max 45.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Minimum pitch during takeoff.
*
* @unit deg
* @min -5.0
* @max 80.0
* @decimal 1
* @increment 0.5
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
/**
* Takeoff Airspeed
*
* The calibrated airspeed setpoint during the takeoff climbout.
*
* If set <= 0, FW_AIRSPD_MIN will be set by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
/**
* Use terrain estimation during landing.
*
* This is critical for detecting when to flare, and should be enabled if possible.
*
* If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
* will be aborted, depending on the criteria set in FW_LND_ABORT.
*
* If disabled, FW_LND_ABORT terrain based criteria are ignored.
*
* @min 0
* @max 2
* @value 0 Disable the terrain estimate
* @value 1 Use the terrain estimate to trigger the flare (only)
* @value 2 Calculate landing glide slope relative to the terrain estimate
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 1);
/**
* Early landing configuration deployment
*
* Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in
* the loiter-down waypoint before the final approach.
* Otherwise is enabled only in the final approach.
*
* @boolean
*
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during landing flare.
*
* @unit deg
* @min -5
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during landing flare.
*
* @unit deg
* @min 0
* @max 45.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Landing airspeed
*
* The calibrated airspeed setpoint during landing.
*
* If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
/**
* Altitude time constant factor for landing and low-height flight
*
* The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.
*
* @unit
* @min 0.2
* @max 1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
/**
* Speed <--> Altitude weight
*
* Adjusts the amount of weighting that the pitch control
* applies to speed vs height errors.
* 0 -> control height only
* 2 -> control speed only (gliders)
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 1.0
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
/**
* Custom stick configuration
*
* Applies in manual Position and Altitude flight modes.
*
* @min 0
* @max 3
* @bit 0 Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
* @bit 1 Enable airspeed setpoint via sticks in altitude and position flight mode
* @group FW General
*/
PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
/**
* Default target climbrate.
*
* In auto modes: default climb rate output by controller to achieve altitude setpoints.
* In manual modes: maximum climb rate setpoint.
*
* @unit m/s
* @min 0.1
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
/**
* Default target sinkrate.
*
* In auto modes: default sink rate output by controller to achieve altitude setpoints.
* In manual modes: maximum sink rate setpoint.
*
* @unit m/s
* @min 0.1
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
/**
* GPS failure loiter time
*
* The time the system should do open loop loiter and wait for GPS recovery
* before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
*
* @unit s
* @min 0
* @group FW General
*/
PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
/**
* GPS failure fixed roll angle
*
* Roll angle in GPS failure loiter mode.
*
* @unit deg
* @min 0.0
* @max 60.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
/**
* The aircraft's wing span (length from tip to tip).
*
* This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
*
* @unit m
* @min 0.1
* @decimal 1
* @increment 0.1
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_SPAN, 3.0);
/**
* Height (AGL) of the wings when the aircraft is on the ground.
*
* This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer
* to give a slight margin here (> 0m)
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 1
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_HEIGHT, 0.5);
/**
* Landing flare time
*
* Multiplied by the descent rate to calculate a dynamic altitude at which
* to trigger the flare.
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude
*
* @unit s
* @min 0.1
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_TIME, 1.0f);
/**
* Landing touchdown time (since flare start)
*
* This is the time after the start of flaring that we expect the vehicle to touch the runway.
* At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.
* If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.
*
* Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.
*
* The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).
*
* @unit s
* @min -1.0
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_TIME, -1.0f);
/**
* Landing flare sink rate
*
* TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)
*
* @unit m/s
* @min 0.0
* @max 2
* @decimal 2
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_SINK, 0.25f);
/**
* Maximum lateral position offset for the touchdown point
*
* @unit m
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0);
/**
* Landing touchdown nudging option.
*
* Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant
* Approach path nudging: shifts the touchdown point laterally along with the entire approach path
*
* This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
* desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
* relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
*
* @min 0
* @max 2
* @value 0 Disable nudging
* @value 1 Nudge approach angle
* @value 2 Nudge approach path
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_NUDGE, 2);
/**
* Bit mask to set the automatic landing abort conditions.
*
* Terrain estimation:
* bit 0: Abort if terrain is not found
* bit 1: Abort if terrain times out (after a first successful measurement)
*
* The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the
* selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.
*
* TODO: Extend automatic abort conditions
* e.g. glide slope tracking error (horizontal and vertical)
*
* @min 0
* @max 3
* @bit 0 Abort if terrain is not found (only applies to mission landings)
* @bit 1 Abort if terrain times out (after a first successful measurement)
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
/**
* Fixed-wing launch detection
*
* Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
* Not compatible with runway takeoff.
*
* @boolean
* @group FW Auto Takeoff
*/
PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
/**
* Control surface launch delay
*
* Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
* Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
* Set to 0 to disable any surface locking after arming.
*
* @unit s
* @min 0.0
* @decimal 1
* @increment 0.1
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_CS_LK_DY, 0.f);
/**
* Flaps setting during take-off
*
* Sets a fraction of full flaps during take-off.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
/**
* Flaps setting during landing
*
* Sets a fraction of full flaps during landing.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
/**
* Spoiler landing setting
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);
src/modules/fw_mode_manager/fw_mode_manager_params.yaml
+519
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@@ -0,0 +1,519 @@
module_name: fw_mode_manager
parameters:
- group: FW Auto Landing
definitions:
FW_LND_ANG:
description:
short: Maximum landing slope angle
long: |-
Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.
Set this value within the vehicle's performance limits.
type: float
default: 5.0
unit: deg
min: 1.0
max: 45.0
decimal: 1
increment: 0.5
FW_LND_FLALT:
description:
short: Landing flare altitude (relative to landing altitude)
long: 'NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as
the flare altitude'
type: float
default: 0.5
unit: m
min: 0.0
decimal: 1
increment: 0.5
FW_LND_USETER:
description:
short: Use terrain estimation during landing
long: |-
This is critical for detecting when to flare, and should be enabled if possible.
If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
will be aborted, depending on the criteria set in FW_LND_ABORT.
If disabled, FW_LND_ABORT terrain based criteria are ignored.
type: enum
values:
0: Disable the terrain estimate
1: Use the terrain estimate to trigger the flare (only)
2: Calculate landing glide slope relative to the terrain estimate
default: 1
min: 0
max: 2
FW_LND_EARLYCFG:
description:
short: Early landing configuration deployment
long: |-
Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in
the loiter-down waypoint before the final approach.
Otherwise is enabled only in the final approach.
type: boolean
default: 0
FW_LND_FL_PMIN:
description:
short: Flare, minimum pitch
long: Minimum pitch during landing flare.
type: float
default: 2.5
unit: deg
min: -5
max: 15.0
decimal: 1
increment: 0.5
FW_LND_FL_PMAX:
description:
short: Flare, maximum pitch
long: Maximum pitch during landing flare.
type: float
default: 15.0
unit: deg
min: 0
max: 45.0
decimal: 1
increment: 0.5
FW_LND_AIRSPD:
description:
short: Landing airspeed
long: |-
The calibrated airspeed setpoint during landing.
If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.
type: float
default: -1.0
unit: m/s
min: -1.0
decimal: 1
increment: 0.1
FW_LND_THRTC_SC:
description:
short: Altitude time constant factor for landing and low-height flight
long: The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this
value.
type: float
default: 1.0
min: 0.2
max: 1.0
decimal: 1
increment: 0.1
FW_LND_FL_TIME:
description:
short: Landing flare time
long: |-
Multiplied by the descent rate to calculate a dynamic altitude at which
to trigger the flare.
NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude
type: float
default: 1.0
unit: s
min: 0.1
max: 5.0
decimal: 1
increment: 0.1
FW_LND_TD_TIME:
description:
short: Landing touchdown time (since flare start)
long: |-
This is the time after the start of flaring that we expect the vehicle to touch the runway.
At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.
If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.
Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.
The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).
type: float
default: -1.0
unit: s
min: -1.0
max: 5.0
decimal: 1
increment: 0.1
FW_LND_FL_SINK:
description:
short: Landing flare sink rate
long: TECS will attempt to control the aircraft to this sink rate via pitch
angle (throttle killed during flare)
type: float
default: 0.25
unit: m/s
min: 0.0
max: 2
decimal: 2
increment: 0.1
FW_LND_TD_OFF:
description:
short: Maximum lateral position offset for the touchdown point
type: float
default: 3.0
unit: m
min: 0.0
max: 10.0
decimal: 1
increment: 1
FW_LND_NUDGE:
description:
short: Landing touchdown nudging option
long: |-
Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant
Approach path nudging: shifts the touchdown point laterally along with the entire approach path
This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
type: enum
values:
0: Disable nudging
1: Nudge approach angle
2: Nudge approach path
default: 2
min: 0
max: 2
FW_LND_ABORT:
description:
short: Bit mask to set the automatic landing abort conditions
long: |-
Terrain estimation:
bit 0: Abort if terrain is not found
bit 1: Abort if terrain times out (after a first successful measurement)
The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the
selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.
TODO: Extend automatic abort conditions
e.g. glide slope tracking error (horizontal and vertical)
type: bitmask
bit:
0: Abort if terrain is not found (only applies to mission landings)
1: Abort if terrain times out (after a first successful measurement)
default: 3
min: 0
max: 3
FW_FLAPS_LND_SCL:
description:
short: Flaps setting during landing
long: |-
Sets a fraction of full flaps during landing.
Also applies to flaperons if enabled in the mixer/allocation.
type: float
default: 1.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
FW_SPOILERS_LND:
description:
short: Spoiler landing setting
type: float
default: 0.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
- group: FW Auto Takeoff
definitions:
FW_TKO_PITCH_MIN:
description:
short: Minimum pitch during takeoff
type: float
default: 10.0
unit: deg
min: -5.0
max: 80.0
decimal: 1
increment: 0.5
FW_TKO_AIRSPD:
description:
short: Takeoff Airspeed
long: |-
The calibrated airspeed setpoint during the takeoff climbout.
If set <= 0, FW_AIRSPD_MIN will be set by default.
type: float
default: -1.0
unit: m/s
min: -1.0
decimal: 1
increment: 0.1
FW_LAUN_DETCN_ON:
description:
short: Fixed-wing launch detection
long: |-
Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
Not compatible with runway takeoff.
type: boolean
default: 0
FW_LAUN_CS_LK_DY:
description:
short: Control surface launch delay
long: |-
Locks control surfaces during pre-launch (armed) and until this time since launch has passed.
Only affects control surfaces that have corresponding flag set, and not active for runway takeoff.
Set to 0 to disable any surface locking after arming.
type: float
default: 0.0
unit: s
min: 0.0
decimal: 1
increment: 0.1
FW_FLAPS_TO_SCL:
description:
short: Flaps setting during take-off
long: |-
Sets a fraction of full flaps during take-off.
Also applies to flaperons if enabled in the mixer/allocation.
type: float
default: 0.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
- group: FW General
definitions:
FW_P_LIM_MIN:
description:
short: Minimum pitch angle setpoint
long: Applies in any altitude controlled flight mode.
type: float
default: -30.0
unit: deg
min: -60.0
max: 0.0
decimal: 1
increment: 0.5
FW_P_LIM_MAX:
description:
short: Maximum pitch angle setpoint
long: Applies in any altitude controlled flight mode.
type: float
default: 30.0
unit: deg
min: 0.0
max: 80.0
decimal: 1
increment: 0.5
FW_R_LIM:
description:
short: Maximum roll angle setpoint
long: Applies in any altitude controlled flight mode.
type: float
default: 50.0
unit: deg
min: 35.0
max: 75.0
decimal: 1
increment: 0.5
FW_THR_MAX:
description:
short: Throttle limit max
long: |-
Applies in any altitude controlled flight mode.
Should be set accordingly to achieve FW_T_CLMB_MAX.
type: float
default: 1.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
FW_THR_MIN:
description:
short: Throttle limit min
long: |-
Applies in any altitude controlled flight mode.
Usually set to 0 but can be increased to prevent the motor from stopping when
descending, which can increase achievable descent rates.
type: float
default: 0.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
FW_THR_IDLE:
description:
short: Idle throttle
long: This is the minimum throttle while on the ground ("landed") in auto
modes.
type: float
default: 0.0
unit: norm
min: 0.0
max: 1.0
decimal: 2
increment: 0.01
FW_T_SPDWEIGHT:
description:
short: Speed <--> Altitude weight
long: |-
Adjusts the amount of weighting that the pitch control
applies to speed vs height errors.
0 -> control height only
2 -> control speed only (gliders)
type: float
default: 1.0
min: 0.0
max: 2.0
decimal: 1
increment: 1.0
FW_POS_STK_CONF:
description:
short: Custom stick configuration
long: Applies in manual Position and Altitude flight modes.
type: bitmask
bit:
0: Alternative stick configuration (height rate on throttle stick, airspeed
on pitch stick)
1: Enable airspeed setpoint via sticks in altitude and position flight mode
default: 2
min: 0
max: 3
FW_T_CLMB_R_SP:
description:
short: Default target climbrate
long: |-
In auto modes: default climb rate output by controller to achieve altitude setpoints.
In manual modes: maximum climb rate setpoint.
type: float
default: 3.0
unit: m/s
min: 0.1
decimal: 2
increment: 0.01
FW_T_SINK_R_SP:
description:
short: Default target sinkrate
long: |-
In auto modes: default sink rate output by controller to achieve altitude setpoints.
In manual modes: maximum sink rate setpoint.
type: float
default: 2.0
unit: m/s
min: 0.1
decimal: 2
increment: 0.01
FW_GPSF_LT:
description:
short: GPS failure loiter time
long: |-
The time the system should do open loop loiter and wait for GPS recovery
before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
type: int32
default: 30
unit: s
min: 0
FW_GPSF_R:
description:
short: GPS failure fixed roll angle
long: Roll angle in GPS failure loiter mode.
type: float
default: 15.0
unit: deg
min: 0.0
max: 60.0
decimal: 1
increment: 0.5
FW_WING_SPAN:
description:
short: The aircraft's wing span (length from tip to tip)
long: This is used for limiting the roll setpoint near the ground. (if multiple
wings, take the longest span)
type: float
default: 3.0
unit: m
min: 0.1
decimal: 1
increment: 0.1
FW_WING_HEIGHT:
description:
short: Height (AGL) of the wings when the aircraft is on the ground
long: |-
This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer
to give a slight margin here (> 0m)
type: float
default: 0.5
unit: m
min: 0.0
decimal: 1
increment: 1
- group: FW NPFG Control
definitions:
NPFG_PERIOD:
description:
short: NPFG period
long: Period of NPFG control law.
type: float
default: 10.0
unit: s
min: 1.0
max: 100.0
decimal: 1
increment: 0.1
NPFG_DAMPING:
description:
short: NPFG damping ratio
long: Damping ratio of NPFG control law.
type: float
default: 0.7
min: 0.1
max: 1.0
decimal: 2
increment: 0.01
NPFG_LB_PERIOD:
description:
short: Enable automatic lower bound on the NPFG period
long: |-
Avoids limit cycling from a too aggressively tuned period/damping combination.
If false, also disables upper bound NPFG_PERIOD_UB.
type: boolean
default: 1
NPFG_UB_PERIOD:
description:
short: Enable automatic upper bound on the NPFG period
long: Adapts period to maintain track keeping in variable winds and path curvature.
type: boolean
default: 1
NPFG_ROLL_TC:
description:
short: Roll time constant
long: |-
Time constant of roll controller command / response, modeled as first order delay.
Used to determine lower period bound. Setting zero disables automatic period bounding.
type: float
default: 0.5
unit: s
min: 0.0
max: 2.0
decimal: 2
increment: 0.05
NPFG_SW_DST_MLT:
description:
short: NPFG switch distance multiplier
long: |-
Multiplied by the track error boundary to determine when the aircraft switches
to the next waypoint and/or path segment. Should be less than 1.
type: float
default: 0.32
min: 0.1
max: 1.0
decimal: 2
increment: 0.01
NPFG_PERIOD_SF:
description:
short: Period safety factor
long: |-
Multiplied by period for conservative minimum period bounding (when period lower
bounding is enabled). 1.0 bounds at marginal stability.
type: float
default: 1.5
min: 1.0
max: 10.0
decimal: 1
increment: 0.1
src/modules/fw_mode_manager/launchdetection/launchdetection_params.c
-81
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@@ -1,81 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 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 launchdetection_params.c
*
* Parameters for launchdetection
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
/**
* Trigger acceleration threshold
*
* Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
*
* @unit m/s^2
* @min 0
* @decimal 1
* @increment 0.5
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_AC_THLD, 30.0f);
/**
* Trigger time
*
* Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
*
* @unit s
* @min 0.0
* @max 5.0
* @decimal 2
* @increment 0.05
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_AC_T, 0.05f);
/**
* Motor delay
*
* Start the motor(s) this amount of seconds after launch is detected.
*
* @unit s
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_MOT_DEL, 0.0f);
src/modules/fw_mode_manager/runway_takeoff/runway_takeoff_params.c
-128
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@@ -1,128 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 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 runway_takeoff_params.c
*
* Parameters for runway takeoff
*
* @author Andreas Antener <andreas@uaventure.com>
*/
/**
* Runway takeoff with landing gear
*
* @boolean
* @group Runway Takeoff
*/
PARAM_DEFINE_INT32(RWTO_TKOFF, 0);
/**
* Throttle during runway takeoff.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
/**
* Pitch setpoint during taxi / before takeoff rotation airspeed is reached.
*
* A taildragger with steerable wheel might need to pitch up
* a little to keep its wheel on the ground before airspeed
* to takeoff is reached.
*
* @unit deg
* @min -10.0
* @max 20.0
* @decimal 1
* @increment 0.5
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
/**
* Throttle ramp up time for runway takeoff
*
* @unit s
* @min 1.0
* @max 15.0
* @decimal 2
* @increment 0.1
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_RAMP_TIME, 2.0f);
/**
* Enable use of yaw stick for nudging the wheel during runway ground roll
*
* This is useful when map, GNSS, or yaw errors on ground are misaligned with what the operator intends for takeoff course.
* Particularly useful for skinny runways or if the wheel servo is a bit off trim.
*
* @boolean
* @group Runway Takeoff
*/
PARAM_DEFINE_INT32(RWTO_NUDGE, 1);
/**
* Takeoff rotation airspeed
*
* The calibrated airspeed threshold during the takeoff ground roll when the plane should start rotating (pitching up).
* Must be less than the takeoff airspeed, will otherwise be capped at the takeoff airpeed (see FW_TKO_AIRSPD).
*
* If set <= 0.0, defaults to 0.9 * takeoff airspeed (see FW_TKO_AIRSPD)
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_ROT_AIRSPD, -1.0f);
/**
* Takeoff rotation time
*
* This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation
*
* @unit s
* @min 0.1
* @decimal 1
* @increment 0.1
* @group Runway Takeoff
*/
PARAM_DEFINE_FLOAT(RWTO_ROT_TIME, 1.0f);