FW controllers: make param description more concise

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-04-14 10:07:39 +08:00 · 2023-03-02 22:49:25 +01:00 · 2023-03-02 22:49:25 +01:00 · ec38ec660c
commit ec38ec660c
parent 4be74befd2
5 changed files with 29 additions and 72 deletions
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@ -82,10 +82,7 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
 PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);

 /**
- * Maximum positive / up pitch rate.
- *
- * This limits the maximum pitch up angular rate the controller will output (in
- * degrees per second).
+ * Maximum positive / up pitch rate setpoint
 *
 * @unit deg/s
 * @min 0.0
@ -97,10 +94,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
 PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);

 /**
- * Maximum negative / down pitch rate.
- *
- * This limits the maximum pitch down up angular rate the controller will
- * output (in degrees per second).
+ * Maximum negative / down pitch rate setpoint
 *
 * @unit deg/s
 * @min 0.0
@ -112,10 +106,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
 PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);

 /**
- * Maximum roll rate
- *
- * This limits the maximum roll rate the controller will output (in degrees per
- * second).
+ * Maximum roll rate setpoint
 *
 * @unit deg/s
 * @min 0.0
@ -127,10 +118,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
 PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);

 /**
- * Maximum yaw rate
- *
- * This limits the maximum yaw rate the controller will output (in degrees per
- * second).
+ * Maximum yaw rate setpoint
 *
 * @unit deg/s
 * @min 0.0
--- a/src/modules/fw_path_navigation/fw_path_navigation_params.c
+++ b/src/modules/fw_path_navigation/fw_path_navigation_params.c
@ -180,7 +180,7 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
 /**
 * Trim throttle
 *
- * This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight. Most airframes have a value of 0.5-0.7.
+ * This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight.
 *
 * @unit norm
 * @min 0.0
@ -207,7 +207,7 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
 /**
 * Minimum pitch angle
 *
- * The minimum pitch angle setpoint for autonomous modes including altitude and position control.
+ * The minimum pitch angle setpoint for a height-rate or altitude controlled mode.
 *
 * @unit deg
 * @min -60.0
@ -221,7 +221,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
 /**
 * Maximum pitch angle
 *
- * The maximum pitch angle setpoint for autonomous modes including altitude and position control.
+ * The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode.
 *
 * @unit deg
 * @min 0.0
@ -235,7 +235,7 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
 /**
 * Maximum roll angle
 *
- * The maximum roll angle setpoint for autonomous modes including altitude and position control.
+ * The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode.
 *
 * @unit deg
 * @min 35.0
@ -442,8 +442,7 @@ PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
 * Altitude time constant factor for landing
 *
 * Set this parameter to less than 1.0 to make TECS react faster to altitude errors during
- * landing than during normal flight (i.e. giving efficiency and low motor wear at
- * high altitudes but control accuracy during landing). During landing, the TECS
+ * landing than during normal flight. During landing, the TECS
 * altitude time constant (FW_T_ALT_TC) is multiplied by this value.
 *
 * @unit
@ -464,18 +463,10 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
 /**
 * Maximum climb rate
 *
- * This is the best climb rate that the aircraft can achieve with
+ * This is the maximum climb rate that the aircraft can achieve with
 * the throttle set to THR_MAX and the airspeed set to the
- * default value. For electric aircraft make sure this number can be
+ * trim value. For electric aircraft make sure this number can be
 * achieved towards the end of flight when the battery voltage has reduced.
- * The setting of this parameter can be checked by commanding a positive
- * altitude change of 100m in loiter, RTL or guided mode. If the throttle
- * required to climb is close to THR_MAX and the aircraft is maintaining
- * airspeed, then this parameter is set correctly. If the airspeed starts
- * to reduce, then the parameter is set to high, and if the throttle
- * demand required to climb and maintain speed is noticeably less than
- * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
- * FW_THR_MAX reduced.
 *
 * @unit m/s
 * @min 1.0
@ -663,8 +654,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
 * and ignore height errors. This will normally reduce airspeed errors,
 * but give larger height errors. The default value of 1.0 allows the pitch
 * control to simultaneously control height and speed.
- * Note to Glider Pilots - set this parameter to 2.0 (The glider will
- * adjust its pitch angle to maintain airspeed, ignoring changes in height).
+ * Set to 2 for gliders.
 *
 * @min 0.0
 * @max 2.0
@ -777,7 +767,6 @@ PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
 /**
 * Default target climbrate.
 *
- *
 * The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints.
 * In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
 *
@ -825,7 +814,6 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
 * GPS failure fixed roll angle
 *
 * Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
- * Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
 *
 * @unit deg
 * @min 0.0
--- a/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c
+++ b/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c
@ -69,8 +69,7 @@ PARAM_DEFINE_FLOAT(FW_LAUN_AC_T, 0.05f);
 /**
 * Motor delay
 *
- * Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
- * Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate
+ * Start the motor(s) this amount of seconds after launch is detected.
 *
 * @unit s
 * @min 0.0
--- a/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c
+++ b/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c
@ -65,8 +65,6 @@ PARAM_DEFINE_INT32(RWTO_HDG, 0);
 /**
 * Max throttle during runway takeoff.
 *
- * Can be used to test taxi on runway
- *
 * @unit norm
 * @min 0.0
 * @max 1.0
--- a/src/modules/fw_rate_control/fw_rate_control_params.c
+++ b/src/modules/fw_rate_control/fw_rate_control_params.c
@ -69,8 +69,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
 * Maximum Airspeed (CAS)
 *
 * The maximal airspeed (calibrated airspeed) the user is able to command.
- * Further, if the airspeed is above this value, the TECS controller will try to decrease
- * airspeed more aggressively.
 *
 * @unit m/s
 * @min 0.5
@ -84,21 +82,20 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
 /**
 * Airspeed mode
 *
- * For small wings or VTOL without airspeed sensor this parameter can be used to
+ * On vehicles without airspeed sensor this parameter can be used to
 * enable flying without an airspeed reading
 *
- * @value 0 Normal (use airspeed if available)
- * @value 1 Airspeed disabled
+ * @value 0 Use airspeed in controller
+ * @value 1 Do not use airspeed in controller
 * @group FW Attitude Control
 */
 PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);

 /**
- * Cruise Airspeed (CAS)
+ * Trim (Cruise) Airspeed
 *
 * The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active,
- * this is the default airspeed setpoint that the controller will try to achieve if
- * no other airspeed setpoint sources are present (e.g. through non-centered RC sticks).
+ * this is the default airspeed setpoint that the controller will try to achieve.
 *
 * @unit m/s
 * @min 0.5
@ -128,8 +125,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f);
 /**
 * Pitch rate proportional gain.
 *
- * Pitch rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
 * @unit %/rad/s
 * @min 0.0
 * @max 1.0
@ -142,7 +137,8 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
 /**
 * Pitch rate derivative gain.
 *
- * Pitch rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ * Pitch rate differential gain. Small values help reduce fast oscillations.
+ * If value is too big oscillations will appear again.
 *
 * @unit %/rad/s
 * @min 0.0
@ -185,8 +181,6 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
 /**
 * Roll rate proportional Gain
 *
- * Roll rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
 * @unit %/rad/s
 * @min 0.0
 * @max 1.0
@ -199,7 +193,8 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
 /**
 * Roll rate derivative Gain
 *
- * Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ * Roll rate differential gain. Small values help reduce fast oscillations.
+ * If value is too big oscillations will appear again.
 *
 * @unit %/rad/s
 * @min 0.0
@ -241,8 +236,6 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
 /**
 * Yaw rate proportional gain
 *
- * Yaw rate proportional gain, i.e. control output for angular speed error 1 rad/s.
- *
 * @unit %/rad/s
 * @min 0.0
 * @max 1.0
@ -255,7 +248,8 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
 /**
 * Yaw rate derivative gain
 *
- * Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
+ * Yaw rate differential gain. Small values help reduce fast oscillations.
+ * If value is too big oscillations will appear again.
 *
 * @unit %/rad/s
 * @min 0.0
@ -353,10 +347,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
 PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);

 /**
- * Acro body y max rate.
- *
- * This is the body y rate the controller is trying to achieve if the user applies full pitch
- * stick input in acro mode.
+ * Acro body pitch max rate setpoint.
 *
 * @min 45
 * @max 720
@ -366,10 +357,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
 PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);

 /**
- * Acro body z max rate.
- *
- * This is the body z rate the controller is trying to achieve if the user applies full yaw
- * stick input in acro mode.
+ * Acro body yaw max rate setpoint.
 *
 * @min 10
 * @max 180
@ -379,13 +367,10 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
 PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);

 /**
- * Whether to scale throttle by battery power level
+ * Enable throttle scale by battery level
 *
 * This compensates for voltage drop of the battery over time by attempting to
- * normalize performance across the operating range of the battery. The fixed wing
- * should constantly behave as if it was fully charged with reduced max thrust
- * at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery,
- * it will still be 0.5 at 60% battery.
+ * normalize performance across the operating range of the battery.
 *
 * @boolean
 * @group FW Rate Control
@ -630,8 +615,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);
 *
 * This gain can be used to counteract the "adverse yaw" effect for fixed wings.
 * When the plane enters a roll it will tend to yaw the nose out of the turn.
- * This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract
- * this effect.
+ * This gain enables the use of a yaw actuator to counteract this effect.
 *
 * @min 0.0
 * @decimal 1