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 3d5ed72058..732c26a54d 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -57,6 +57,8 @@ * @unit s * @min 0.4 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f); @@ -73,6 +75,8 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f); * @unit s * @min 0.2 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f); @@ -86,6 +90,8 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f); * @unit %/rad/s * @min 0.005 * @max 1.0 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f); @@ -99,6 +105,8 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f); * @unit %/rad * @min 0.005 * @max 0.5 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f); @@ -112,6 +120,8 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f); * @unit deg/s * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); @@ -125,6 +135,8 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f); * @unit deg/s * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); @@ -135,9 +147,10 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f); * The portion of the integrator part in the control surface deflection is * limited to this value * - * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f); @@ -151,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f); * @unit %/rad/s * @min 0.005 * @max 1.0 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); @@ -164,6 +179,8 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); * @unit %/rad * @min 0.005 * @max 0.2 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f); @@ -173,9 +190,10 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f); * * The portion of the integrator part in the control surface deflection is limited to this value. * - * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); @@ -189,6 +207,8 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); * @unit deg/s * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f); @@ -202,6 +222,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f); * @unit %/rad/s * @min 0.005 * @max 1.0 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); @@ -215,6 +237,8 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); * @unit %/rad * @min 0.0 * @max 50.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); @@ -225,9 +249,10 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); * The portion of the integrator part in the control surface deflection is * limited to this value * - * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); @@ -241,6 +266,8 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); * @unit deg/s * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); @@ -254,6 +281,8 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); * @unit %/rad/s * @min 0.005 * @max 1.0 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f); @@ -265,8 +294,10 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f); * state error. It trims any constant error. * * @unit %/rad - * @min 0.0 - * @max 50.0 + * @min 0.005 + * @max 0.5 + * @decimal 3 + * @increment 0.005 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f); @@ -277,9 +308,10 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f); * The portion of the integrator part in the control surface deflection is * limited to this value * - * @unit % * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f); @@ -293,6 +325,8 @@ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f); * @unit deg/s * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f); @@ -307,6 +341,8 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f); * @unit %/rad/s * @min 0.0 * @max 10.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f); @@ -319,6 +355,8 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f); * @unit %/rad/s * @min 0.0 * @max 10.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f); @@ -331,6 +369,8 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f); * @unit %/rad/s * @min 0.0 * @max 10.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); @@ -343,6 +383,8 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); * @unit %/rad/s * @min 0.0 * @max 10.0 + * @decimal 2 + * @increment 0.05 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f); @@ -354,6 +396,10 @@ PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f); * turn. Set to a very high value to disable. * * @unit m/s + * @min 0.0 + * @max 1000.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); @@ -373,49 +419,6 @@ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); */ PARAM_DEFINE_INT32(FW_YCO_METHOD, 0); -/* Airspeed parameters: - * The following parameters about airspeed are used by the attitude and the - * position controller. - * */ - -/** - * Minimum Airspeed - * - * If the airspeed falls below this value, the TECS controller will try to - * increase airspeed more aggressively. - * - * @unit m/s - * @min 0.0 - * @max 40 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); - -/** - * Trim Airspeed - * - * The TECS controller tries to fly at this airspeed. - * - * @unit m/s - * @min 0.0 - * @max 40 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f); - -/** - * Maximum Airspeed - * - * If the airspeed is above this value, the TECS controller will try to decrease - * airspeed more aggressively. - * - * @unit m/s - * @min 0.0 - * @max 40 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); - /** * Roll Setpoint Offset * @@ -426,6 +429,8 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); * @unit deg * @min -90.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f); @@ -440,6 +445,8 @@ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f); * @unit deg * @min -90.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); @@ -452,6 +459,8 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); * @unit deg * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); @@ -464,6 +473,8 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); * @unit deg * @min 0.0 * @max 90.0 + * @decimal 1 + * @increment 0.5 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f); @@ -471,8 +482,11 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f); /** * Scale factor for flaps * + * @unit norm * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.01 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f); @@ -480,8 +494,11 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f); /** * Scale factor for flaperons * + * @unit norm * @min 0.0 * @max 1.0 + * @decimal 2 + * @increment 0.01 * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);