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FW attitude/rate controller: shorten/improve param descriptions

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-09-29 11:07:46 +02:00
parent b817eb0370
commit 6b09882758
2 changed files with 17 additions and 58 deletions
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src/modules/fw_att_control/fw_att_control_params.c
+6 -18
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 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
@@ -44,10 +44,7 @@
* Attitude Roll Time Constant
*
* This defines the latency between a roll step input and the achieved setpoint
* (inverse to a P gain). Half a second is a good start value and fits for
* most average systems. Smaller systems may require smaller values, but as
* this will wear out servos faster, the value should only be decreased as
* needed.
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
@@ -62,10 +59,7 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
* Attitude pitch time constant
*
* This defines the latency between a pitch step input and the achieved setpoint
* (inverse to a P gain). Half a second is a good start value and fits for
* most average systems. Smaller systems may require smaller values, but as
* this will wear out servos faster, the value should only be decreased as
* needed.
* (inverse to a P gain). Smaller systems may require smaller values.
*
* @unit s
* @min 0.2
@@ -168,9 +162,6 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
/**
* Wheel steering rate integrator limit
*
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @min 0.0
* @max 1.0
* @decimal 2
@@ -197,8 +188,6 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);
/**
* Wheel steering rate feed forward
*
* Direct feed forward from rate setpoint to control surface output
*
* @unit %/rad/s
* @min 0.0
* @max 10
@@ -228,8 +217,7 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
* Maximum manually added yaw rate
*
* This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode.
* The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it.
* This is an absolute value, which is applied symmetrically to the negative and positive side.
* It is added to the yaw rate setpoint generated by the controller for turn coordination.
*
* @unit deg/s
* @min 0
@@ -242,7 +230,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f);
/**
* Maximum manual roll angle
*
* Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
* Applies to both directions in all manual modes with attitude stabilization
*
* @unit deg
* @min 0.0
@@ -256,7 +244,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
/**
* Maximum manual pitch angle
*
* Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
* Applies to both directions in all manual modes with attitude stabilization but without altitude control
*
* @unit deg
* @min 0.0