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replace FW_THR_CRUISE with FW_THR_TRIM

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2022-07-07 11:19:12 +03:00 committed by Martina Rivizzigno
parent 226b8a6f90
commit 461d0561b8
19 changed files with 29 additions and 38 deletions
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2
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
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@ -29,7 +29,7 @@ param set-default FW_SPOILERS_LND 0.4
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7

2
ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer
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@ -27,7 +27,7 @@ param set-default FW_RR_P 0.3
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8

2
ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider
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@ -5,5 +5,5 @@
. ${R}etc/init.d-posix/airframes/1030_plane
param set-default FW_THR_CRUISE 0.0
param set-default FW_THR_TRIM 0.0
param set-default RWTO_TKOFF 0

2
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
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@ -57,7 +57,7 @@ param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8

2
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
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@ -51,7 +51,7 @@ param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_CRUISE 0.33
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2

2
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
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@ -64,7 +64,7 @@ param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.38
param set-default FW_THR_TRIM 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8

2
ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop
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@ -16,7 +16,7 @@ param set-default FW_P_LIM_MAX 32
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_CRUISE 0.25
param set-default FW_THR_TRIM 0.25
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2

2
ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1
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@ -41,7 +41,7 @@ param set-default FW_R_LIM 30
param set-default FW_MAN_P_MAX 30.0
param set-default FW_MAN_R_MAX 30.0
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_TRIM 0.8
param set-default FW_THR_IDLE 0
param set-default COM_DISARM_PRFLT 0

2
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
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@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
param set-default FW_PR_I 0.02
param set-default FW_RR_FF 0.6
param set-default FW_RR_I 0.01
param set-default FW_THR_CRUISE 0.75
param set-default FW_THR_TRIM 0.75
param set-default VT_ARSP_BLEND 6
param set-default VT_ARSP_TRANS 12

2
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
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@ -14,7 +14,7 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default FW_THR_CRUISE 65
param set-default FW_THR_TRIM 65
param set-default FW_RR_FF 0.6
param set-default MIS_YAW_TMT 10

2
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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@ -53,7 +53,7 @@ param set-default FW_T_CLMB_MAX 3
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1
param set-default FW_T_VERT_ACC 6
param set-default FW_THR_CRUISE 0.70
param set-default FW_THR_TRIM 0.70
param set-default FW_THR_SLEW_MAX 1
param set-default FW_MAN_P_MAX 30
param set-default FW_P_LIM_MAX 15

2
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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@ -39,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
param set-default FW_RR_P 0.08
param set-default FW_R_LIM 45
param set-default FW_R_RMAX 50
param set-default FW_THR_CRUISE 0.65
param set-default FW_THR_TRIM 0.65
param set-default FW_THR_MIN 0.3
param set-default FW_THR_SLEW_MAX 0.6
param set-default FW_T_HRATE_FF 0

2
ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2
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@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_TRIM 0.8
param set-default FW_MAN_P_MAX 25
param set-default FW_MAN_R_MAX 25

2
ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
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@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
param set-default FW_AIRSPD_MAX 20
param set-default FW_AIRSPD_MIN 7
param set-default FW_AIRSPD_TRIM 13
param set-default FW_THR_CRUISE 0.8
param set-default FW_THR_TRIM 0.8
param set-default FW_MAN_P_MAX 25
param set-default FW_MAN_R_MAX 25

2
ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha
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@ -40,7 +40,7 @@ param set-default FW_RR_P 0.013
param set-default FW_P_RMAX_NEG 70
param set-default FW_P_RMAX_POS 70
param set-default FW_R_RMAX 70
param set-default FW_THR_CRUISE 0.55
param set-default FW_THR_TRIM 0.55
param set-default LNDFW_AIRSPD_MAX 6
param set-default LNDFW_XYACC_MAX 4

9
src/lib/parameters/param_translation.cpp
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@ -246,5 +246,14 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-07-07: translate FW_THR_CRUISE->FW_THR_TRIM
{
if (strcmp("FW_THR_CRUISE", node->name) == 0) {
strcpy(node->name, "FW_THR_TRIM");
PX4_INFO("copying %s -> %s", "FW_THR_CRUISE", "FW_THR_TRIM");
return true;
}
}
return false;
}

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
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@ -685,7 +685,7 @@ private:
(ParamFloat<px4::params::FW_T_SINK_R_SP>) _param_sinkrate_target,
(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,
(ParamFloat<px4::params::FW_THR_TRIM>) _param_fw_thr_trim,
(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
(ParamFloat<px4::params::FW_THR_LND_MAX>) _param_fw_thr_lnd_max,
(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,

24
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
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@ -230,9 +230,9 @@ PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
/**
* Cruise throttle
* Trim throttle
*
* This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
* This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight. Most airframes have a value of 0.5-0.7.
*
* @unit norm
* @min 0.0
@ -241,25 +241,7 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
/**
* Scale throttle by pressure change
*
* Automatically adjust throttle to account for decreased air density at higher altitudes.
* Start with a scale factor of 1.0 and adjust for different propulsion systems.
*
* When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges.
*
* The default value of 0 will disable scaling.
*
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 0.1
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_ALT_SCL, 0.0f);
PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f);
/**
* Throttle max slew rate

2
src/modules/navigator/navigator_main.cpp
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@ -1074,7 +1074,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
float Navigator::get_cruising_throttle()
{
/* Return the mission-requested cruise speed, or default FW_THR_CRUISE value */
/* Return the mission-requested cruise speed, or default FW_THR_TRIM value */
if (_mission_throttle > FLT_EPSILON) {
return _mission_throttle;