ZMO airframe: update parameters (#24803)

* ZMO airframe: update parameters

Including some parameters we found useful during the tests over the
previous months:

 - various controller & transition tuning refinements
 - remove battery capacity (not reliable enough w battery degradation)
 - airspeed scale
 - rotor configs:
    - remove everything related to rotors 3 and 4 (which don't exist)
    - set moment coefficients explicitly even if at default
 - Increase roll limit (FW_R_LIM, FD_FAIL_R)
 - min and max airspeeds
 - tilt servo min and default PWM values

* ZMO airframe: address review

 - explicitly set CA_ROTOR3_* to 0 (as these are set in the parent
   13100 which describes a quadrotor)
 - remove ASPD_SCALE_1 (close enough to default, and better to have
   slightly low reading)
 - remove MPC_ACC_HOR_MAX (= default)
 - remove MPC_TILTMAX_AIR (was temporary)
 - remove SENS_EN_SF1XX (= default)

* ZMO airframe: update tilt setup

to describe a setup where tilt servos can provide yaw torque in both
directions in multicopter mode.

* ZMO airframe: wording

docs/assets/airframes/vtol/omp_hobby_zmo_fpv/omp_hobby_zmo.params

@@ -2,40 +2,48 @@
 # Vehicle: VTOL
 # Vehicle-Id Component-Id Name Value Type
 
-1	1	BAT1_CAPACITY	4000.0	9
 1	1	BAT1_N_CELLS	4	6
 
+1	1	CA_ROTOR0_KM	-0.05	9
+1	1	CA_ROTOR0_PX	1.0	9
 1	1	CA_ROTOR0_PY	-1.0	9
 1	1	CA_ROTOR0_TILT	1	6
+1	1	CA_ROTOR1_KM	0.05	9
 1	1	CA_ROTOR1_PX	1.0	9
 1	1	CA_ROTOR1_PY	1.0	9
 1	1	CA_ROTOR1_TILT	2	6
+1	1	CA_ROTOR2_KM	0.05	9
 1	1	CA_ROTOR2_PX	-1.8	9
-1	1	CA_ROTOR_COUNT	3	6
-
 1	1	CA_ROTOR2_PY	0.0	9
 1	1	CA_ROTOR2_TILT	0.0	9
+1	1	CA_ROTOR3_KM	0.0	9
 1	1	CA_ROTOR3_PX	0.0	9
 1	1	CA_ROTOR3_PY	0.0	9
-1	1	CA_ROTOR4_AZ	0.0	9
+
+1	1	CA_ROTOR_COUNT	3	6
 
 1	1	COM_PREARM_MODE	2	6
 
-1	1	FW_AIRSPD_MIN	13.0	9
+1	1	FD_FAIL_R	70	6
+
+1	1	FW_AIRSPD_MAX	30.0	9
+1	1	FW_AIRSPD_MIN	12.0	9
 1	1	FW_AIRSPD_STALL	10.0	9
 1	1	FW_BAT_SCALE_EN	1	6
 1	1	FW_PR_FF	0.2	9
 1	1	FW_PR_I	0.3	9
-1	1	FW_PR_P	0.5	9
+1	1	FW_PR_P	0.3	9
 1	1	FW_PSP_OFF	2.0	9
 1	1	FW_RR_FF	0.15	9
 1	1	FW_RR_I	0.2	9
 1	1	FW_RR_P	0.14	9
+1	1	FW_R_LIM	60.0	9
+1	1	FW_THR_ASPD_MAX	0.85	9
+1	1	FW_THR_ASPD_MIN	0.34	9
 1	1	FW_THR_TRIM	0.45	9
 1	1	FW_T_ALT_TC	10.0	9
 1	1	FW_T_CLMB_MAX	17.0	9
 1	1	FW_T_CLMB_R_SP	5.0	9
-1	1	FW_T_THR_INTEG	0.03	9
 1	1	FW_T_PTCH_DAMP	0.3	9
 1	1	FW_T_RLL2THR	10.0	9
 1	1	FW_T_SINK_MAX	7.0	9
@@ -43,6 +51,7 @@
 1	1	FW_T_SINK_R_SP	2.5	9
 1	1	FW_T_STE_R_TC	0.1	9
 1	1	FW_T_THR_DAMPING	0.05	9
+1	1	FW_T_THR_INTEG	0.05	9
 1	1	FW_YR_FF	0.13	9
 1	1	FW_YR_P	0.1	9
 
@@ -50,22 +59,24 @@
 1	1	MC_PITCHRATE_I	0.3	9
 1	1	MC_PITCHRATE_MAX	120.0	9
 1	1	MC_PITCHRATE_P	0.25	9
-1	1	MC_PITCH_P	4.5	9
+1	1	MC_PITCH_P	6.5	9
 1	1	MC_ROLLRATE_I	0.3	9
-1	1	MC_ROLLRATE_P	0.28	9
-1	1	MC_ROLL_P	4.0	9
-1	1	MC_YAWRATE_I	0.4	9
-1	1	MC_YAWRATE_P	0.6	9
-1	1	MC_YAW_P	2.8	9
+1	1	MC_ROLLRATE_P	0.25	9
+1	1	MC_ROLL_P	5.0	9
+1	1	MC_YAWRATE_D	0.01	9
+1	1	MC_YAWRATE_I	0.1	9
+1	1	MC_YAWRATE_P	0.2	9
+1	1	MC_YAW_P	1.7	9
 
-1	1	MPC_ACC_HOR_MAX	5.0	9
-1	1	MPC_JERK_MAX	8.0	9
 1	1	MPC_LAND_RC_HELP	1	6
+1	1	MPC_LAND_SPEED	1.2	9
 1	1	MPC_THR_HOVER	0.7	9
 1	1	MPC_VEL_MANUAL	8.0	9
 1	1	MPC_VEL_MAN_SIDE	5.0	9
 1	1	MPC_XY_CRUISE	6.0	9
 1	1	MPC_XY_VEL_MAX	10.0	9
+1	1	MPC_Z_VEL_MAX_DN	2.0	9
+1	1	MPC_Z_V_AUTO_DN	2.0	9
 
 1	1	PWM_AUX_FUNC1	101	6
 1	1	PWM_AUX_FUNC2	102	6
@@ -74,23 +85,28 @@
 1	1	PWM_MAIN_DIS2	1500	6
 1	1	PWM_MAIN_DIS3	1500	6
 1	1	PWM_MAIN_DIS4	1500	6
-1	1	PWM_MAIN_DIS5	2000	6
-1	1	PWM_MAIN_DIS6	2000	6
+1	1	PWM_MAIN_DIS5	1850	6
+1	1	PWM_MAIN_DIS6	1900	6
 1	1	PWM_MAIN_FUNC1	201	6
 1	1	PWM_MAIN_FUNC2	202	6
 1	1	PWM_MAIN_FUNC3	203	6
 1	1	PWM_MAIN_FUNC4	204	6
 1	1	PWM_MAIN_FUNC5	205	6
 1	1	PWM_MAIN_FUNC6	206	6
+1	1	PWM_MAIN_MIN5	900	6
+1	1	PWM_MAIN_MIN6	930	6
 1	1	PWM_MAIN_REV	58	6
 1	1	PWM_MAIN_TIM0	50	6
 1	1	PWM_MAIN_TIM1	50	6
 1	1	PWM_MAIN_TIM2	50	6
 
+1	1	VT_B_DEC_MSS	1.5	9
 1	1	VT_FWD_THRUST_EN	4	6
 1	1	VT_FWD_THRUST_SC	0.8	9
 1	1	VT_FW_QC_P	70	6
 1	1	VT_FW_QC_R	70	6
+1	1	VT_TILT_MC	0.15	9
 1	1	VT_TILT_TRANS	0.5	9
-
-1	1	SENS_EN_SF1XX	0	6
+1	1	VT_TRANS_MIN_TM	3.0	9
+1	1	VT_TRANS_P2_DUR	1.0	9
+1	1	VT_TRANS_TIMEOUT	10.0	9

docs/en/frames_vtol/vtol_tiltrotor_omp_hobby_zmo_fpv.md

@@ -332,7 +332,8 @@ If motors/servos were connected to different outputs than suggested, you will ne
 
    ![Tilt Servo adjustment](../../assets/airframes/vtol/omp_hobby_zmo_fpv/tilt-limits-01.jpg)
 
-1. Adjust the minimum or maximum value that the servo is pointing vertical up.
+1. Adjust the minimum (or, if revesed: maximum) value such that the rotor thrust can point backward (needed for proper yaw allocation in Multicopter mode).
+1. Adjust the parameter `VT_TILT_MC` such that the rotors point exactly upwards when given zero input.
 1. Then type `commander transition` into the MAVLink shell to adjust the horizontal position.
 
 #### Control Surfaces
@@ -361,8 +362,8 @@ The direction can't be changed in software because the vehicle does not use [DSh
 ## First Flight
 
 - Check tilt rotor reactions in [Stabilized mode](../flight_modes_fw/stabilized.md). Keep the throttle stick at the minimum and place the vehicle at the ground. To enable the tilt servos you need to arm the vehicle.
-  - Yaw the vehicle to the right (nose to the right) -> left motor should tilt down
-  - Yaw the vehicle to the left (nose to the left) -> right motor should tilt down
+  - Command a yaw to the right (nose to the right) -> left motor should tilt forward, right motor should tilt backward
+  - Command a yaw to the left (nose to the left) -> left motor should tilt backward, right motor should tilt forward
 - Mount the propellers.
 - Check center of gravity (GG).
   Switch the vehicle into forward flight mode.