FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -34,7 +34,7 @@ param set-default CBRK_IO_SAFETY 22027
 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
 
-param set-default FW_ARSP_MODE 1
+param set-default FW_USE_AIRSPD 0
 param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18

src/lib/parameters/param_translation.cpp

@@ -42,7 +42,21 @@
 
 bool param_modify_on_import(bson_node_t node)
 {
+	// 2023-12-06: translate and invert FW_ARSP_MODE-> FW_USE_AIRSPD
+	{
+		if (strcmp("FW_ARSP_MODE", node->name) == 0) {
+			if (node->i32 == 0) {
+				node->i32 = 1;
 
+			} else {
+				node->i32 = 0;
+			}
+
+			strcpy(node->name, "FW_USE_AIRSPD");
+			PX4_INFO("copying and inverting %s -> %s", "FW_ARSP_MODE", "FW_USE_AIRSPD");
+			return true;
+		}
+	}
 
 	return false;
 }

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -150,7 +150,7 @@ float FixedwingAttitudeControl::get_airspeed_constrained()
 	// if no airspeed measurement is available out best guess is to use the trim airspeed
 	float airspeed = _param_fw_airspd_trim.get();
 
-	if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
+	if (_param_fw_use_airspd.get() && airspeed_valid) {
 		/* prevent numerical drama by requiring 0.5 m/s minimal speed */
 		airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);
 

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -135,7 +135,7 @@ private:
 		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
 		(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
 		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
-		(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
+		(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
 
 		(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
 		(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,

src/modules/fw_pos_control/FixedwingPositionControl.cpp

@@ -205,7 +205,7 @@ FixedwingPositionControl::airspeed_poll()
 	bool airspeed_valid = _airspeed_valid;
 	airspeed_validated_s airspeed_validated;
 
-	if ((_param_fw_arsp_mode.get() == 0) && _airspeed_validated_sub.update(&airspeed_validated)) {
+	if (_param_fw_use_airspd.get() && _airspeed_validated_sub.update(&airspeed_validated)) {
 
 		_eas2tas = 1.0f; //this is the default value, taken in case of invalid airspeed
 

src/modules/fw_pos_control/FixedwingPositionControl.hpp

@@ -954,7 +954,7 @@ private:
 		(ParamFloat<px4::params::FW_GPSF_R>) _param_nav_gpsf_r,
 
 		// external parameters
-		(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
+		(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
 
 		(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
 

src/modules/fw_rate_control/FixedwingRateControl.cpp

@@ -162,7 +162,7 @@ float FixedwingRateControl::get_airspeed_and_update_scaling()
 	// if no airspeed measurement is available out best guess is to use the trim airspeed
 	float airspeed = _param_fw_airspd_trim.get();
 
-	if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
+	if (_param_fw_use_airspd.get() && airspeed_valid) {
 		/* prevent numerical drama by requiring 0.5 m/s minimal speed */
 		airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);
 

src/modules/fw_rate_control/FixedwingRateControl.hpp

@@ -164,7 +164,7 @@ private:
 		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
 		(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
 		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
-		(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
+		(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
 
 		(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
 

src/modules/fw_rate_control/fw_rate_control_params.c

@@ -41,16 +41,18 @@
  */
 
 /**
- * Airspeed mode
+ * Use airspeed for control
  *
- * On vehicles without airspeed sensor this parameter can be used to
+ * If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
- * enable flying without an airspeed reading
+ * - Rate controller: output scaling
+ * - Attitude controller: coordinated turn controller
+ * - Position controller: airspeed setpoint tracking, takeoff logic
+ * - VTOL: transition logic
  *
- * @value 0 Use airspeed in controller
+ * @boolean
- * @value 1 Do not use airspeed in controller
  * @group FW Rate Control
  */
-PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
+PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1);
 
 /**
  * Pitch rate proportional gain.

src/modules/vtol_att_control/standard.cpp

@@ -217,7 +217,7 @@ void Standard::update_transition_state()
 				    _airspeed_trans_blend_margin;
 			// time based blending when no airspeed sensor is set
 
-		} else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
+		} else if (!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
 			mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime();
 			mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
 

src/modules/vtol_att_control/tailsitter.cpp

@@ -324,7 +324,7 @@ void Tailsitter::fill_actuator_outputs()
 bool Tailsitter::isFrontTransitionCompletedBase()
 {
 	const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
-			&& !_param_fw_arsp_mode.get() ;
+			&& _param_fw_use_airspd.get();
 
 	bool transition_to_fw = false;
 	const float pitch = Eulerf(Quatf(_v_att->q)).theta();

src/modules/vtol_att_control/tiltrotor.cpp

@@ -243,7 +243,7 @@ void Tiltrotor::update_transition_state()
 		_mc_roll_weight = 1.0f;
 		_mc_yaw_weight = 1.0f;
 
-		if (!_param_fw_arsp_mode.get()  && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
+		if (_param_fw_use_airspd.get()  && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
 		    _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
 			const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
 					     (getTransitionAirspeed()  - getBlendAirspeed());
@@ -252,7 +252,7 @@ void Tiltrotor::update_transition_state()
 		}
 
 		// without airspeed do timed weight changes
-		if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
+		if ((!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
 		    _time_since_trans_start > getMinimumFrontTransitionTime()) {
 			_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
 					  (getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());

src/modules/vtol_att_control/vtol_type.cpp

@@ -208,7 +208,7 @@ bool VtolType::isFrontTransitionCompletedBase()
 {
 	// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
 	const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
-			&& !_param_fw_arsp_mode.get();
+			&& _param_fw_use_airspd.get();
 	const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime();
 	const bool openloop_trans_time_elapsed = _time_since_trans_start > getOpenLoopFrontTransitionTime();
 

src/modules/vtol_att_control/vtol_type.h

@@ -354,7 +354,7 @@ protected:
 					(ParamFloat<px4::params::VT_ARSP_TRANS>) _param_vt_arsp_trans,
 					(ParamFloat<px4::params::VT_F_TRANS_THR>) _param_vt_f_trans_thr,
 					(ParamFloat<px4::params::VT_ARSP_BLEND>) _param_vt_arsp_blend,
-					(ParamBool<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
+					(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
 					(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout,
 					(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
 					(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en,