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VTOL: some parater meta data fixes/improvements

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-14 10:52:12 +01:00
parent c04a67401e
commit f5ecd1106f
1 changed files with 21 additions and 3 deletions
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src/modules/vtol_att_control/vtol_att_control_params.c
+21 -3
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@@ -190,6 +190,8 @@ PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
* @unit s
* @min 0.0
* @max 20.0
* @increment 0.1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
@@ -199,8 +201,12 @@ PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
*
* Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude
* the vehicle will transition back to MC mode and enter failsafe RTL
*
* @unit m
* @min 0.0
* @max 200.0
* @increment 1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f);
@@ -210,8 +216,12 @@ PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f);
*
* Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint
* the vehicle will transition back to MC mode and enter failsafe RTL.
*
* @unit m
* @min 0.0
* @max 200.0
* @increment 1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_ALT_ERR, 0.0f);
@@ -246,6 +256,8 @@ PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
* @unit s
* @min 1.0
* @max 30.0
* @increment 0.5
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_F_TR_OL_TM, 6.0f);
@@ -318,7 +330,7 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_Y, 0.1f);
* @unit rad s^2/m
* @min 0
* @max 0.2
* @decimal 1
* @decimal 2
* @increment 0.01
* @group VTOL Attitude Control
*/
@@ -331,7 +343,7 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.f);
* @unit rad s/m
* @min 0
* @max 0.3
* @decimal 1
* @decimal 2
* @increment 0.05
* @group VTOL Attitude Control
*/
@@ -344,8 +356,11 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f);
* then the fixed-wing forward actuation can be used to compensate for the missing thrust in forward direction
* (see VT_FW_TRHUST_EN)
*
* @unit deg
* @min -10.0
* @max 45.0
* @increment 0.1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PITCH_MIN, -5.0f);
@@ -357,8 +372,11 @@ PARAM_DEFINE_FLOAT(VT_PITCH_MIN, -5.0f);
* During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings
* generating too much lift and preventing the vehicle from sinking at the desired rate.
*
* @unit deg
* @min -10.0
* @max 45.0
* @increment 0.1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_LND_PITCH_MIN, -5.0f);
@@ -370,7 +388,7 @@ PARAM_DEFINE_FLOAT(VT_LND_PITCH_MIN, -5.0f);
* @min -1
* @max 1
* @decimal 1
* @increment 0.05
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_SPOILER_MC_LD, 0.f);