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FW: Re-organize param sections for FW params

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Params that are used by FW Mode Manager
- FW NPFG: NPFG params, should be renamed to FW Lateral Control once moved to the lat/lon controller
- FW Auto Takeoff
- FW Auto Landing

Params used by Fw Lat/Long Controller:
- FW Lateral Control
- FW Longitudinal Control

Params used by both:
- FW General

Params used by Performance model:
- FW Performance (could be moerged with FW General?)

Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan 2025-04-05 14:49:38 +02:00
parent 54ec8f9d2e
commit 46480b7dfb
3 changed files with 45 additions and 44 deletions
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42
src/modules/fw_lateral_longitudinal_control/fw_lat_long_params.c
View File

@ -8,7 +8,7 @@
* @min 0
* @decimal 0
* @increment 1
* @group FW Path Control
* @group FW Lateral Control
*/
PARAM_DEFINE_FLOAT(FW_PN_R_SLEW_MAX, 90.0f);
@ -23,7 +23,7 @@ PARAM_DEFINE_FLOAT(FW_PN_R_SLEW_MAX, 90.0f);
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
@ -41,7 +41,7 @@ PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
@ -59,7 +59,7 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
* @min -1
* @decimal 0
* @increment 1
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_THR_LOW_HGT, -1.f);
@ -72,7 +72,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_LOW_HGT, -1.f);
* @max 1.0
* @decimal 3
* @increment 0.01
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f);
@ -86,7 +86,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f);
* @max 1.0
* @decimal 3
* @increment 0.005
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f);
@ -100,7 +100,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f);
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
@ -130,7 +130,7 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.07f);
@ -144,7 +144,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.07f);
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f);
@ -159,7 +159,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f);
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
@ -174,7 +174,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
* @max 20.0
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
@ -185,7 +185,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
* @max 2.0
* @decimal 2
* @increment 0.1
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
@ -195,7 +195,7 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
* @min 2.0
* @decimal 2
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
@ -207,7 +207,7 @@ PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
*
* @min -1.0
* @decimal 0
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_F_ALT_ERR, -1.0f);
@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(FW_T_F_ALT_ERR, -1.0f);
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.3f);
@ -228,7 +228,7 @@ PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.3f);
* @min 2.0
* @decimal 2
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
@ -241,7 +241,7 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
* @max 2
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
@ -253,7 +253,7 @@ PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
* @max 3
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
@ -267,7 +267,7 @@ PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
* @min 0
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
@ -279,6 +279,6 @@ PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW Longitudinal Control
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);

41
src/modules/fw_pos_control/fw_path_navigation_params.c
View File

@ -122,6 +122,7 @@ PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
/**
* Minimum pitch angle setpoint
*
@ -132,7 +133,7 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
* @max 0.0
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
@ -146,7 +147,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
* @max 60.0
* @decimal 1
* @increment 0.5
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
@ -160,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
* @max 65.0
* @decimal 1
* @increment 0.5
* @group FW Path Control
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
@ -175,7 +176,7 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
@ -191,7 +192,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@ -205,7 +206,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* @max 0.4
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
@ -232,7 +233,7 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW Path Control
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
@ -247,7 +248,7 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW TECS
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
@ -365,7 +366,7 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
* @max 2.0
* @decimal 1
* @increment 1.0
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
@ -378,7 +379,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
* @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 Path Control
* @group FW General
*/
PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
@ -393,7 +394,7 @@ PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
* @max 15
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
@ -408,7 +409,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
* @max 15
* @decimal 2
* @increment 0.01
* @group FW TECS
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
@ -422,7 +423,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
* @unit s
* @min 0
* @max 3600
* @group Mission
* @group FW General
*/
PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
@ -436,7 +437,7 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
* @max 30.0
* @decimal 1
* @increment 0.5
* @group Mission
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
@ -450,7 +451,7 @@ PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
* @min 0.1
* @decimal 1
* @increment 0.1
* @group FW Geometry
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_SPAN, 3.0);
@ -464,7 +465,7 @@ PARAM_DEFINE_FLOAT(FW_WING_SPAN, 3.0);
* @min 0.0
* @decimal 1
* @increment 1
* @group FW Geometry
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_HEIGHT, 0.5);
@ -578,7 +579,7 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
* Not compatible with runway takeoff.
*
* @boolean
* @group FW Launch detection
* @group FW Auto Takeoff
*/
PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
@ -593,7 +594,7 @@ PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Rate Control
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
@ -608,7 +609,7 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Rate Control
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
@ -620,6 +621,6 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);

6
src/modules/fw_pos_control/launchdetection/launchdetection_params.c
View File

@ -48,7 +48,7 @@
* @min 0
* @decimal 1
* @increment 0.5
* @group FW Launch detection
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_AC_THLD, 30.0f);
@ -62,7 +62,7 @@ PARAM_DEFINE_FLOAT(FW_LAUN_AC_THLD, 30.0f);
* @max 5.0
* @decimal 2
* @increment 0.05
* @group FW Launch detection
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_AC_T, 0.05f);
@ -76,6 +76,6 @@ PARAM_DEFINE_FLOAT(FW_LAUN_AC_T, 0.05f);
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW Launch detection
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_LAUN_MOT_DEL, 0.0f);