From 97e3b76a2ecab0645fd90fe2118205fe04dd6738 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 28 Sep 2022 11:05:27 +0200 Subject: [PATCH] VTOL: improve readability of VT_FWD_THRUST_EN param Signed-off-by: Silvan Fuhrer --- .../vtol_att_control/standard_params.c | 26 ++++++++++--------- 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 924a95488c..317e991e4e 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -41,21 +41,23 @@ /** - * Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down). + * Enable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down). * - * This technique can be used to avoid the plane having to pitch down in order to move forward. - * This prevents large, negative lift values being created when facing strong winds. + * This feature can be used to avoid the plane having to pitch down in order to move forward, + * and prevents large, negative lift values being created when facing strong winds. * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). - * Only active if demaded down pitch is below VT_PITCH_MIN, and uses VT_FWD_THRUST_SC to get from - * demanded down pitch to fixed-wing actuation. + * Only active if demanded down pitch is below VT_PITCH_MIN. + * Use VT_FWD_THRUST_SC to tune it. * - * @value 0 Disable FW forward actuation in hover. - * @value 1 Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING). - * @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1. - * @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2. - * @value 4 Enable FW forward actuation in hover in altitude, position and auto modes. - * @value 5 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING). - * @value 6 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING). + * Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized. + * + * @value 0 Disabled + * @value 1 Enabled (except LANDING) + * @value 2 Enabled if distance to ground above MPC_LAND_ALT1 + * @value 3 Enabled if distance to ground above MPC_LAND_ALT2 + * @value 4 Enabled constantly + * @value 5 Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING) + * @value 6 Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING) * * @group VTOL Attitude Control */