From c09bf6663928eff20f15832df2969169910bb0de Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 2 Mar 2023 22:10:12 +0100 Subject: [PATCH] VTOL: make param descripion more concise Signed-off-by: Silvan Fuhrer --- .../vtol_att_control/standard_params.c | 14 ++--- .../vtol_att_control/tailsitter_params.c | 55 ------------------- .../vtol_att_control/tiltrotor_params.c | 7 +-- .../vtol_att_control_params.c | 21 ++----- 4 files changed, 13 insertions(+), 84 deletions(-) delete mode 100644 src/modules/vtol_att_control/tailsitter_params.c diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 26b74efc61..8b4aae5803 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -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 diff --git a/src/modules/vtol_att_control/tailsitter_params.c b/src/modules/vtol_att_control/tailsitter_params.c deleted file mode 100644 index 34b17b0025..0000000000 --- a/src/modules/vtol_att_control/tailsitter_params.c +++ /dev/null @@ -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 - * @author David Vorsin - */ - -/** - * 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);*/ diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c index 31a6d549c0..c1eed416ec 100644 --- a/src/modules/vtol_att_control/tiltrotor_params.c +++ b/src/modules/vtol_att_control/tiltrotor_params.c @@ -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 diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 03b61f497e..88cfa87a4f 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -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. *