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FW controllers: make param description more concise

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 14:00:02 +01:00
parent 4be74befd2
commit ec38ec660c
5 changed files with 29 additions and 72 deletions
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src/modules/fw_rate_control/fw_rate_control_params.c
+16 -32
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@@ -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