diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane index f203ee14cc..a30bb0cb30 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane @@ -12,7 +12,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam index 3dc3c9ee1a..25e8ff5878 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam @@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult index f8fd546366..2e8af2ffcc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult @@ -16,7 +16,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider index d5b59f7007..126d08bb07 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider @@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar index 22d7e21119..c8a171c93f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar @@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna index d7ea1f3b37..2c941acc61 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna @@ -26,7 +26,7 @@ param set-default NPFG_PERIOD 12 param set-default FW_PR_P 0.9 param set-default FW_PR_FF 0.5 param set-default FW_PR_I 0.5 -param set-default TRIM_PITCH -0.15 +param set-default FW_TRIM_PITCH -0.15 param set-default FW_PSP_OFF 2 param set-default FW_P_LIM_MIN -15 diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp index 93cbddcdec..94a15d1059 100644 --- a/src/lib/parameters/param_translation.cpp +++ b/src/lib/parameters/param_translation.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 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 @@ -73,5 +73,26 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node) } } + // 2024-04-03: translate TRIM_ROLL/PITCH/YAW-> FW_TRIM_ROLL/PITCH/YAW + { + if (strcmp("TRIM_ROLL", node->name) == 0) { + strcpy(node->name, "FW_TRIM_ROLL"); + PX4_INFO("copying %s -> %s", "TRIM_ROLL", "FW_TRIM_ROLL"); + return param_modify_on_import_ret::PARAM_MODIFIED; + } + + if (strcmp("TRIM_PITCH", node->name) == 0) { + strcpy(node->name, "FW_TRIM_PITCH"); + PX4_INFO("copying %s -> %s", "TRIM_PITCH", "FW_TRIM_PITCH"); + return param_modify_on_import_ret::PARAM_MODIFIED; + } + + if (strcmp("TRIM_YAW", node->name) == 0) { + strcpy(node->name, "FW_TRIM_YAW"); + PX4_INFO("copying %s -> %s", "TRIM_YAW", "FW_TRIM_YAW"); + return param_modify_on_import_ret::PARAM_MODIFIED; + } + } + return param_modify_on_import_ret::PARAM_NOT_MODIFIED; } diff --git a/src/modules/fw_rate_control/FixedwingRateControl.hpp b/src/modules/fw_rate_control/FixedwingRateControl.hpp index ec3b7e1c9e..9e2b22998f 100644 --- a/src/modules/fw_rate_control/FixedwingRateControl.hpp +++ b/src/modules/fw_rate_control/FixedwingRateControl.hpp @@ -200,9 +200,9 @@ private: (ParamFloat) _param_fw_yr_p, (ParamFloat) _param_fw_yr_d, - (ParamFloat) _param_trim_pitch, - (ParamFloat) _param_trim_roll, - (ParamFloat) _param_trim_yaw, + (ParamFloat) _param_trim_pitch, + (ParamFloat) _param_trim_roll, + (ParamFloat) _param_trim_yaw, (ParamInt) _param_fw_spoilers_man ) diff --git a/src/modules/fw_rate_control/fw_rate_control_params.c b/src/modules/fw_rate_control/fw_rate_control_params.c index b1fa496e15..83667a51e8 100644 --- a/src/modules/fw_rate_control/fw_rate_control_params.c +++ b/src/modules/fw_rate_control/fw_rate_control_params.c @@ -298,7 +298,7 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1); /** * Roll trim increment at minimum airspeed * -* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN. +* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control * @min -0.5 @@ -311,7 +311,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f); /** * Pitch trim increment at minimum airspeed * -* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN. +* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control * @min -0.5 @@ -324,7 +324,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f); /** * Yaw trim increment at minimum airspeed * -* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN. +* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MIN. * * @group FW Rate Control * @min -0.5 @@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f); /** * Roll trim increment at maximum airspeed * -* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX. +* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control * @min -0.5 @@ -350,7 +350,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f); /** * Pitch trim increment at maximum airspeed * -* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX. +* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control * @min -0.5 @@ -363,7 +363,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f); /** * Yaw trim increment at maximum airspeed * -* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX. +* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MAX. * * @group FW Rate Control * @min -0.5 @@ -467,7 +467,7 @@ PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0); * @decimal 2 * @increment 0.01 */ -PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); +PARAM_DEFINE_FLOAT(FW_TRIM_ROLL, 0.0f); /** * Pitch trim @@ -481,7 +481,7 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); * @decimal 2 * @increment 0.01 */ -PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); +PARAM_DEFINE_FLOAT(FW_TRIM_PITCH, 0.0f); /** * Yaw trim @@ -495,4 +495,4 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); * @decimal 2 * @increment 0.01 */ -PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); +PARAM_DEFINE_FLOAT(FW_TRIM_YAW, 0.0f);