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rename FWPositionController to FWModeManager

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-05-26 14:47:38 +02:00
committed by Silvan Fuhrer
parent 259e7d1d53
commit 8c1f7ec7c0
103 changed files with 197 additions and 187 deletions
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src/modules/fw_mode_manager/fw_mode_manager_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2025 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* NPFG period
*
* Period of NPFG control law.
*
* @unit s
* @min 1.0
* @max 100.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD, 10.0f);
/**
* NPFG damping ratio
*
* Damping ratio of NPFG control law.
*
* @min 0.10
* @max 1.00
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_DAMPING, 0.7f);
/**
* Enable automatic lower bound on the NPFG period
*
* Avoids limit cycling from a too aggressively tuned period/damping combination.
* If false, also disables upper bound NPFG_PERIOD_UB.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_LB_PERIOD, 1);
/**
* Enable automatic upper bound on the NPFG period
*
* Adapts period to maintain track keeping in variable winds and path curvature.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_UB_PERIOD, 1);
/**
* Roll time constant
*
* Time constant of roll controller command / response, modeled as first order delay.
* Used to determine lower period bound. Setting zero disables automatic period bounding.
*
* @unit s
* @min 0.00
* @max 2.00
* @decimal 2
* @increment 0.05
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_ROLL_TC, 0.5f);
/**
* NPFG switch distance multiplier
*
* Multiplied by the track error boundary to determine when the aircraft switches
* to the next waypoint and/or path segment. Should be less than 1.
*
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
/**
* Period safety factor
*
* Multiplied by period for conservative minimum period bounding (when period lower
* bounding is enabled). 1.0 bounds at marginal stability.
*
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
/**
* Minimum pitch angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min -60.0
* @max 0.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
/**
* Maximum pitch angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min 0.0
* @max 60.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
/**
* Maximum roll angle setpoint
*
* Applies in any altitude controlled flight mode.
*
* @unit deg
* @min 35.0
* @max 65.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
/**
* Throttle limit max
*
* Applies in any altitude controlled flight mode.
* Should be set accordingly to achieve FW_T_CLMB_MAX.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
* Applies in any altitude controlled flight mode.
* Usually set to 0 but can be increased to prevent the motor from stopping when
* descending, which can increase achievable descent rates.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Idle throttle
*
* This is the minimum throttle while on the ground ("landed") in auto modes.
*
* @unit norm
* @min 0.0
* @max 0.4
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
/**
* Maximum landing slope angle
*
* Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.
* Set this value within the vehicle's performance limits.
*
* @unit deg
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Minimum pitch during takeoff.
*
* @unit deg
* @min -5.0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
/**
* Takeoff Airspeed
*
* The calibrated airspeed setpoint during the takeoff climbout.
*
* If set <= 0, FW_AIRSPD_MIN will be set by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
/**
* Use terrain estimation during landing.
*
* This is critical for detecting when to flare, and should be enabled if possible.
*
* If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
* will be aborted, depending on the criteria set in FW_LND_ABORT.
*
* If disabled, FW_LND_ABORT terrain based criteria are ignored.
*
* @min 0
* @max 2
* @value 0 Disable the terrain estimate
* @value 1 Use the terrain estimate to trigger the flare (only)
* @value 2 Calculate landing glide slope relative to the terrain estimate
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 1);
/**
* Early landing configuration deployment
*
* Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in
* the loiter-down waypoint before the final approach.
* Otherwise is enabled only in the final approach.
*
* @boolean
*
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during landing flare.
*
* @unit deg
* @min -5
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during landing flare.
*
* @unit deg
* @min 0
* @max 45.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Landing airspeed
*
* The calibrated airspeed setpoint during landing.
*
* If set <= 0, landing airspeed = FW_AIRSPD_MIN by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
/**
* Altitude time constant factor for landing and low-height flight
*
* The TECS altitude time constant (FW_T_ALT_TC) is multiplied by this value.
*
* @unit
* @min 0.2
* @max 1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
/**
* Speed <--> Altitude weight
*
* Adjusts the amount of weighting that the pitch control
* applies to speed vs height errors.
* 0 -> control height only
* 2 -> control speed only (gliders)
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 1.0
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
/**
* Custom stick configuration
*
* Applies in manual Position and Altitude flight modes.
*
* @min 0
* @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 General
*/
PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
/**
* Default target climbrate.
*
* In auto modes: default climb rate output by controller to achieve altitude setpoints.
* In manual modes: maximum climb rate setpoint.
*
* @unit m/s
* @min 0.5
* @max 15
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
/**
* Default target sinkrate.
*
* In auto modes: default sink rate output by controller to achieve altitude setpoints.
* In manual modes: maximum sink rate setpoint.
*
* @unit m/s
* @min 0.5
* @max 15
* @decimal 2
* @increment 0.01
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
/**
* GPS failure loiter time
*
* The time the system should do open loop loiter and wait for GPS recovery
* before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
*
* @unit s
* @min 0
* @max 3600
* @group FW General
*/
PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
/**
* GPS failure fixed roll angle
*
* Roll angle in GPS failure loiter mode.
*
* @unit deg
* @min 0.0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
/**
* The aircraft's wing span (length from tip to tip).
*
* This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
*
* @unit m
* @min 0.1
* @decimal 1
* @increment 0.1
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_SPAN, 3.0);
/**
* Height (AGL) of the wings when the aircraft is on the ground.
*
* This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer
* to give a slight margin here (> 0m)
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 1
* @group FW General
*/
PARAM_DEFINE_FLOAT(FW_WING_HEIGHT, 0.5);
/**
* Landing flare time
*
* Multiplied by the descent rate to calculate a dynamic altitude at which
* to trigger the flare.
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude
*
* @unit s
* @min 0.1
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_TIME, 1.0f);
/**
* Landing touchdown time (since flare start)
*
* This is the time after the start of flaring that we expect the vehicle to touch the runway.
* At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.
* If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.
*
* Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.
*
* The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).
*
* @unit s
* @min -1.0
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_TIME, -1.0f);
/**
* Landing flare sink rate
*
* TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)
*
* @unit m/s
* @min 0.0
* @max 2
* @decimal 2
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_SINK, 0.25f);
/**
* Maximum lateral position offset for the touchdown point
*
* @unit m
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0);
/**
* Landing touchdown nudging option.
*
* Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant
* Approach path nudging: shifts the touchdown point laterally along with the entire approach path
*
* This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
* desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
* relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
*
* @min 0
* @max 2
* @value 0 Disable nudging
* @value 1 Nudge approach angle
* @value 2 Nudge approach path
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_NUDGE, 2);
/**
* Bit mask to set the automatic landing abort conditions.
*
* Terrain estimation:
* bit 0: Abort if terrain is not found
* bit 1: Abort if terrain times out (after a first successful measurement)
*
* The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the
* selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.
*
* TODO: Extend automatic abort conditions
* e.g. glide slope tracking error (horizontal and vertical)
*
* @min 0
* @max 3
* @bit 0 Abort if terrain is not found (only applies to mission landings)
* @bit 1 Abort if terrain times out (after a first successful measurement)
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
/**
* Fixed-wing launch detection
*
* Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
* Not compatible with runway takeoff.
*
* @boolean
* @group FW Auto Takeoff
*/
PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
/**
* Flaps setting during take-off
*
* Sets a fraction of full flaps during take-off.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Takeoff
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
/**
* Flaps setting during landing
*
* Sets a fraction of full flaps during landing.
* Also applies to flaperons if enabled in the mixer/allocation.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
/**
* Spoiler landing setting
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);