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VTOL: make param descripion more concise

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-02 22:10:12 +01:00
parent 9a038281c5
commit c09bf66639
4 changed files with 13 additions and 84 deletions
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14
src/modules/vtol_att_control/standard_params.c
View File

@ -41,10 +41,10 @@
/**
* Enable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
* Use fixed-wing actuation in hover to accelerate forward
*
* 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.
* This feature can be used to avoid the plane having to pitch down in order to move forward.
* Prevents large, negative lift from pitching down into wind.
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
* Only active if demanded down pitch is below VT_PITCH_MIN.
* Use VT_FWD_THRUST_SC to tune it.
@ -64,10 +64,9 @@
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
/**
* Fixed-wing actuator thrust scale for hover forward flight.
* Fixed-wing actuation thrust scale for hover forward flight
*
* Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode.
* Only active if demaded down pitch is below VT_PITCH_MIN.
* Enabled via VT_FWD_THRUST_EN.
*
* @min 0.0
@ -89,10 +88,7 @@ PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
/**
* Output on airbrakes channel during back transition
*
* Used for airbrakes or with ESCs that have reverse thrust enabled on a separate channel.
* Airbrakes need to be enabled for your selected model/mixer.
* Reverse thrust output during back transition
*
* @min 0
* @max 1

55
src/modules/vtol_att_control/tailsitter_params.c
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@ -1,55 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 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.
*
****************************************************************************/
/**
* @file tailsitter_params.c
* Parameters for vtol attitude controller.
*
* @author Roman Bapst <bapstroman@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
*/
/**
* Duration of front transition phase 2
*
* Time in seconds it should take for the rotors to rotate forward completely from the point
* when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
*
* @unit s
* @min 0.1
* @max 5.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);*/

7
src/modules/vtol_att_control/tiltrotor_params.c
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@ -72,7 +72,7 @@ PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f);
PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
/**
* Tilt actuator control value commanded when disarmed and during the first second after arming.
* Tilt when disarmed and in the first second after arming
*
* This specific tilt during spin-up is necessary for some systems whose motors otherwise don't
* spin-up freely.
@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f);
@ -88,8 +88,7 @@ PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f);
/**
* Duration of front transition phase 2
*
* Time in seconds it should take for the rotors to rotate forward completely from the point
* when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
* Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.
*
* @unit s
* @min 0.1

21
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@ -112,9 +112,6 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f);
*
* tailsitter, tiltrotor: main throttle
*
* Note for standard vtol:
* For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking
* For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking
*
* @min -1
* @max 1
@ -128,7 +125,7 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_THR, 0.0f);
* Approximate deceleration during back transition
*
* The approximate deceleration during a back transition in m/s/s
* Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
* Used to calculate back transition distance in an auto mode.
* For standard vtol and tiltrotors a controller is used to track this value during the transition.
*
* @unit m/s^2
@ -279,11 +276,9 @@ PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
/**
* Quad-chute maximum height
*
* Maximum height above the ground (if available, otherwhise above home if available, otherwise above the local origin) where triggering a quadchute is possible.
* Triggering a quadchute always means transitioning the vehicle to hover flight in which generally a lot of energy is consumed.
* At high altitudes there is therefore a big risk to deplete the battery and therefore crash. Currently, there is no automated
* re-transition to fixed wing mode implemented and therefore this parameter serves and an intermediate measure to increase safety.
* Setting this value to 0 deactivates the behavior (always enable quad-chute independently of altitude).
* Maximum height above the ground (if available, otherwhise above
* home if available, otherwise above the local origin) where triggering a quadchute is possible.
* At high altitudes there is a big risk to deplete the battery and therefore crash if in quad-chuting there.
*
* @unit m
* @min 0
@ -325,8 +320,6 @@ PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
/**
* Roll differential thrust factor in forward flight
*
* Maps the roll control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
@ -340,8 +333,6 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_R, 1.f);
/**
* Pitch differential thrust factor in forward flight
*
* Maps the pitch control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
@ -355,8 +346,6 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_P, 1.f);
/**
* Yaw differential thrust factor in forward flight
*
* Maps the yaw control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
@ -412,7 +401,7 @@ PARAM_DEFINE_FLOAT(VT_PITCH_MIN, -5.0f);
/**
* Minimum pitch angle during hover landing.
*
* Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
* Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
* During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings
* generating too much lift and preventing the vehicle from sinking at the desired rate.
*