VTOL: make param descripion more concise

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

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,
+ * 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.
+ * 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
+ * Reverse thrust output 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.
  *
  * @min 0
  * @max 1

src/modules/vtol_att_control/tailsitter_params.c

@@ -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);*/

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
+ * Time in seconds it takes to tilt form VT_TILT_TRANS to VT_TILT_FW.
- * when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
  *
  * @unit s
  * @min 0.1

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.
+ * Maximum height above the ground (if available, otherwhise above
- * Triggering a quadchute always means transitioning the vehicle to hover flight in which generally a lot of energy is consumed.
+ * home if available, otherwise above the local origin) where triggering a quadchute is possible.
- * At high altitudes there is therefore a big risk to deplete the battery and therefore crash. Currently, there is no automated
+ * At high altitudes there is a big risk to deplete the battery and therefore crash if in quad-chuting there.
- * 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).
  *
  * @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.
  *