From cbbd514c1bd127b3a9419bbfaaa19ccb40fcc2a1 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 18 Apr 2023 11:18:19 +0200 Subject: [PATCH] VTOL: increase default of VT_B_TRANS_DUR to 10s A default of 10s makes more sense compared to the old 4s, as this is only the max time of a back transition and it's also decleared completed if the speed drops below the hover cruising speed (MPC_XY_CRUISE). Signed-off-by: Silvan Fuhrer --- .../airframes/1040_gazebo-classic_standard_vtol | 1 - .../init.d-posix/airframes/1042_gazebo-classic_tiltrotor | 1 - .../airframes/1043_gazebo-classic_standard_vtol_drop | 1 - .../init.d-posix/airframes/4004_gz_standard_vtol | 1 - ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad | 1 - ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark | 1 - src/modules/vtol_att_control/vtol_att_control_params.c | 7 ++++--- 7 files changed, 4 insertions(+), 9 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol index a2198bfbe7..37722572ab 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol @@ -77,6 +77,5 @@ param set-default NAV_ACC_RAD 5 param set-default VT_FWD_THRUST_EN 4 param set-default VT_F_TRANS_THR 0.75 -param set-default VT_B_TRANS_DUR 8 param set-default VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor index f8c4c2fc2c..9293cd3140 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor @@ -70,7 +70,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1 param set-default MIS_TAKEOFF_ALT 10 -param set-default VT_B_TRANS_DUR 8 param set-default VT_FWD_THRUST_EN 4 param set-default VT_FWD_THRUST_SC 0.6 param set-default VT_TILT_TRANS 0.6 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop index a431d8e397..e7f04eb90b 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop @@ -78,7 +78,6 @@ param set-default VT_FWD_THRUST_EN 4 param set-default VT_F_TRANS_THR 0.75 param set-default VT_MOT_ID 1234 param set-default VT_FW_MOT_OFFID 1234 -param set-default VT_B_TRANS_DUR 8 param set-default VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 76b74e8972..ffe65bf2d8 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -106,6 +106,5 @@ param set-default NAV_ACC_RAD 5 param set-default VT_FWD_THRUST_EN 4 param set-default VT_F_TRANS_THR 0.75 -param set-default VT_B_TRANS_DUR 8 param set-default VT_TYPE 2 param set-default FD_ESCS_EN 0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 1889ed6167..40cbcb0df8 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad @@ -117,7 +117,6 @@ param set-default VT_PITCH_MIN 8 param set-default VT_FW_QC_P 55 param set-default VT_FW_QC_R 55 param set-default VT_TRANS_MIN_TM 15 -param set-default VT_B_TRANS_DUR 8 param set-default VT_FWD_THRUST_SC 4 param set-default VT_F_TRANS_DUR 1 param set-default VT_B_TRANS_THR 0.7 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index ea4b29d9dc..f8cc4dbd50 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -80,7 +80,6 @@ param set-default SENS_BOARD_ROT 4 param set-default VT_ARSP_BLEND 10 param set-default VT_ARSP_TRANS 21 param set-default VT_B_DEC_MSS 1.5 -param set-default VT_B_TRANS_DUR 12 param set-default VT_ELEV_MC_LOCK 0 param set-default VT_FWD_THRUST_SC 1.2 param set-default VT_F_TR_OL_TM 8 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 c4432dd51e..23a74bd484 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -77,9 +77,10 @@ PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 1); PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f); /** - * Duration of a back transition + * Maximum duration of a back transition * - * Time in seconds used for a back transition + * Time in seconds used for a back transition maximally. + * Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE. * * @unit s * @min 0.1 @@ -88,7 +89,7 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f); * @decimal 2 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f); +PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 10.0f); /** * Target throttle value for the transition to fixed-wing flight.