From 46480b7dfb3cfdedd296eba9f7b9af8674027101 Mon Sep 17 00:00:00 2001 From: Silvan Date: Sat, 5 Apr 2025 14:49:38 +0200 Subject: [PATCH] FW: Re-organize param sections for FW params 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 --- .../fw_lat_long_params.c | 42 +++++++++---------- .../fw_path_navigation_params.c | 41 +++++++++--------- .../launchdetection/launchdetection_params.c | 6 +-- 3 files changed, 45 insertions(+), 44 deletions(-) diff --git a/src/modules/fw_lateral_longitudinal_control/fw_lat_long_params.c b/src/modules/fw_lateral_longitudinal_control/fw_lat_long_params.c index 130c0a1bd7..0856e8c123 100644 --- a/src/modules/fw_lateral_longitudinal_control/fw_lat_long_params.c +++ b/src/modules/fw_lateral_longitudinal_control/fw_lat_long_params.c @@ -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); diff --git a/src/modules/fw_pos_control/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c index 9f82c22fb4..2269ba79f1 100644 --- a/src/modules/fw_pos_control/fw_path_navigation_params.c +++ b/src/modules/fw_pos_control/fw_path_navigation_params.c @@ -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); diff --git a/src/modules/fw_pos_control/launchdetection/launchdetection_params.c b/src/modules/fw_pos_control/launchdetection/launchdetection_params.c index 63e14bedbd..eee3d7ccef 100644 --- a/src/modules/fw_pos_control/launchdetection/launchdetection_params.c +++ b/src/modules/fw_pos_control/launchdetection/launchdetection_params.c @@ -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);