replace FW_THR_CRUISE with FW_THR_TRIM

Signed-off-by: RomanBapst <bapstroman@gmail.com>

src/lib/parameters/param_translation.cpp

@@ -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;
 }

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -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,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -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

src/modules/navigator/navigator_main.cpp

@@ -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;