From ec38ec660cfd045e1cbfb9c2fad08014e91a5c86 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 2 Mar 2023 22:49:25 +0100 Subject: [PATCH] FW controllers: make param description more concise Signed-off-by: Silvan Fuhrer --- .../fw_att_control/fw_att_control_params.c | 20 ++------ .../fw_path_navigation_params.c | 28 ++++------- .../launchdetection/launchdetection_params.c | 3 +- .../runway_takeoff/runway_takeoff_params.c | 2 - .../fw_rate_control/fw_rate_control_params.c | 48 +++++++------------ 5 files changed, 29 insertions(+), 72 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index 0c22c02e76..be0c73ac52 100644 --- 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 diff --git a/src/modules/fw_path_navigation/fw_path_navigation_params.c b/src/modules/fw_path_navigation/fw_path_navigation_params.c index 8dbb181ac0..57d17b602d 100644 --- 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 diff --git a/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c b/src/modules/fw_path_navigation/launchdetection/launchdetection_params.c index 5ecade1c23..63e14bedbd 100644 --- 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 diff --git a/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c b/src/modules/fw_path_navigation/runway_takeoff/runway_takeoff_params.c index af629c5230..766cd8f54e 100644 --- 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 diff --git a/src/modules/fw_rate_control/fw_rate_control_params.c b/src/modules/fw_rate_control/fw_rate_control_params.c index e25590f436..a9e90cabbd 100644 --- 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