diff --git a/ROMFS/px4fmu_common/init.d/3033_wingwing b/ROMFS/px4fmu_common/init.d/3033_wingwing index 708c34491b..3c2312fc7d 100644 --- a/ROMFS/px4fmu_common/init.d/3033_wingwing +++ b/ROMFS/px4fmu_common/init.d/3033_wingwing @@ -23,12 +23,7 @@ then param set FW_LND_TLALT 5 param set FW_THR_LND_MAX 0 param set FW_PR_FF 0.35 - param set FW_PR_I 0.005 - param set FW_PR_IMAX 0.4 - param set FW_PR_P 0.08 param set FW_RR_FF 0.6 - param set FW_RR_I 0.005 - param set FW_RR_IMAX 0.2 param set FW_RR_P 0.04 fi diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index ccf12a0791..9cbbe80cc3 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -803,6 +803,14 @@ FixedwingAttitudeControl::task_main() //warnx("_actuators_airframe.control[1] = -1.0f;"); } + /* default flaps to center */ + float flaps_control = 0.0f; + + /* map flaps by default to manual if valid */ + if (isfinite(_manual.flaps)) { + flaps_control = _manual.flaps; + } + /* decide if in stabilized or full manual control */ if (_vcontrol_mode.flag_control_attitude_enabled) { @@ -922,7 +930,6 @@ FixedwingAttitudeControl::task_main() /* allow manual control of rudder deflection */ yaw_manual = _manual.r; throttle_sp = _manual.z; - _actuators.control[4] = _manual.flaps; /* * in manual mode no external source should / does emit attitude setpoints. @@ -1085,13 +1092,13 @@ FixedwingAttitudeControl::task_main() } else { /* manual/direct control */ - _actuators.control[0] = _manual.y + _parameters.trim_roll; - _actuators.control[1] = -_manual.x + _parameters.trim_pitch; - _actuators.control[2] = _manual.r + _parameters.trim_yaw; - _actuators.control[3] = _manual.z; - _actuators.control[4] = _manual.flaps; + _actuators.control[actuator_controls_s::INDEX_ROLL] = _manual.y + _parameters.trim_roll; + _actuators.control[actuator_controls_s::INDEX_PITCH] = -_manual.x + _parameters.trim_pitch; + _actuators.control[actuator_controls_s::INDEX_YAW] = _manual.r + _parameters.trim_yaw; + _actuators.control[actuator_controls_s::INDEX_THROTTLE] = _manual.z; } + _actuators.control[actuator_controls_s::INDEX_FLAPS] = flaps_control; _actuators.control[5] = _manual.aux1; _actuators.control[6] = _manual.aux2; _actuators.control[7] = _manual.aux3; diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index d9ccd8bac8..234ff0c3fb 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -64,7 +64,7 @@ * @max 1.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); +PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.4f); /** * Pitch rate proportional gain. @@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); * @max 1.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); +PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f); /** * Pitch rate integrator gain. @@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); * @max 50.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_PR_I, 0.005f); /** * Maximum positive / up pitch rate. @@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); * @max 1.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); +PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f); /** * Roll to Pitch feedforward gain. @@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); * @max 100.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f); +PARAM_DEFINE_FLOAT(FW_RR_I, 0.005f); /** * Roll Integrator Anti-Windup @@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); * @max 10.0 * @group FW Attitude Control */ -PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f); +PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f); /** * Pitch rate feed forward diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index c00d822327..78d66afe1e 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -58,7 +58,7 @@ * @max 100.0 * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f); +PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f); /** * L1 damping @@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f); * @max 1.0 * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f); +PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f); /** * Throttle max slew rate @@ -123,10 +123,11 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); * The maximum roll the controller will output. * * @unit degrees - * @min 0.0 + * @min 35.0 + * @max 65.0 * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); +PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f); /** * Throttle limit max @@ -151,6 +152,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); * For aircraft with internal combustion engine this parameter should be set * for desired idle rpm. * + * @min 0.0 + * @max 1.0 * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); @@ -161,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); * This throttle value will be set as throttle limit at FW_LND_TLALT, * before arcraft will flare. * + * @min 0.0 + * @max 1.0 * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); @@ -173,6 +178,8 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); * distance to the desired altitude. Mostly used for takeoff waypoints / modes. * Set to zero to disable climbout mode (not recommended). * + * @min 0.0 + * @max 150.0 * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f); @@ -193,6 +200,8 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f); * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or * FW_THR_MAX reduced. * + * @min 2.0 + * @max 10.0 * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);