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fw_pos_control_l1_params.c param metadata

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This commit is contained in:
Daniel Agar
2016-05-11 12:29:51 -04:00
parent b471d94069
commit fc636b61b0
1 changed files with 254 additions and 104 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+254 -104
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@@ -54,6 +54,8 @@
* @unit m
* @min 12.0
* @max 50.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
@@ -65,6 +67,8 @@ PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
*
* @min 0.6
* @max 0.9
* @decimal 2
* @increment 0.05
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
@@ -77,6 +81,8 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
@@ -100,6 +106,8 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
* @unit deg
* @min -60.0
* @max 0.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
@@ -112,6 +120,8 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
* @unit deg
* @min 0.0
* @max 60.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
@@ -124,6 +134,8 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
* @unit deg
* @min 35.0
* @max 65.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
@@ -138,6 +150,8 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
@@ -157,6 +171,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@@ -172,6 +188,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* @unit norm
* @min 0.0
* @max 0.4
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
@@ -185,6 +203,8 @@ PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.15f);
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
@@ -200,10 +220,181 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
* @unit m
* @min 0.0
* @max 150.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
/**
* Landing slope angle
*
* @unit deg
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
*
*
* @unit m
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
* @unit m
* @min 0.0
* @max 25.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
/**
* Landing throttle limit altitude (relative landing altitude)
*
* Default of -1.0 lets the system default to applying throttle
* limiting at 2/3 of the flare altitude.
*
* @unit m
* @min -1.0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
/**
* Landing heading hold horizontal distance
*
* @unit m
* @min 0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Enable or disable usage of terrain estimate during landing
*
* @boolean
* @group FW L1 Control
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
* @unit deg
* @min 0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
* @unit deg
* @min 0
* @max 45.0
* @decimal 1
* @increment 0.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Min. airspeed scaling factor for landing
*
* Multiplying this factor with the minimum airspeed of the plane
* gives the target airspeed the landing approach.
* FW_AIRSPD_MIN * FW_LND_AIRSPD_SC
*
* @unit norm
* @min 1.0
* @max 1.5
* @decimal 2
* @increment 0.01
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD_SC, 1.3f);
/*
* TECS parameters
*
*/
/**
* Minimum Airspeed
*
* If the airspeed falls below this value, the TECS controller will try to
* increase airspeed more aggressively.
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
/**
* Trim Airspeed
*
* The TECS controller tries to fly at this airspeed.
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
/**
* Maximum Airspeed
*
* If the airspeed is above this value, the TECS controller will try to decrease
* airspeed more aggressively.
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
/**
* Maximum climb rate
*
@@ -221,8 +412,10 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 10.0f);
* FW_THR_MAX reduced.
*
* @unit m/s
* @min 2.0
* @max 10.0
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
@@ -235,6 +428,10 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
* to measure FW_T_CLMB_MAX.
*
* @unit m/s
* @min 1.0
* @max 5.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
@@ -249,6 +446,10 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
* the aircraft.
*
* @unit m/s
* @min 2.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
@@ -261,6 +462,10 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
* to respond.
*
* @unit s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
@@ -273,6 +478,10 @@ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
* to respond.
*
* @unit s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
@@ -283,6 +492,10 @@ PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
* This is the damping gain for the throttle demand loop.
* Increase to add damping to correct for oscillations in speed and height.
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
@@ -295,6 +508,10 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
* and height offsets are trimmed out, but reduces damping and
* increases overshoot.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
@@ -309,6 +526,10 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
* from under-speed conditions.
*
* @unit m/s/s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
@@ -323,6 +544,10 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
* the solution more towards use of the accelerometer data.
*
* @unit rad/s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
@@ -333,10 +558,14 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
* This is the cross-over frequency (in radians/second) of the complementary
* filter used to fuse longitudinal acceleration and airspeed to obtain an
* improved airspeed estimate. Increasing this frequency weights the solution
* more towards use of the arispeed sensor, whilst reducing it weights the
* more towards use of the airspeed sensor, whilst reducing it weights the
* solution more towards use of the accelerometer data.
*
* @unit rad/s
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
@@ -353,6 +582,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
* aircraft (eg powered sailplanes) can use a lower value, whereas
* inefficient low aspect-ratio models (eg delta wings) can use a higher value.
*
* @min 0.0
* @max 20.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
@@ -373,6 +606,8 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 1.0
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
@@ -385,6 +620,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
* will work well provided the pitch to servo controller has been tuned
* properly.
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
@@ -392,6 +631,10 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
/**
* Height rate P factor
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
@@ -399,6 +642,10 @@ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
/**
* Height rate FF factor
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
@@ -406,107 +653,10 @@ PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.0f);
/**
* Speed rate P factor
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.02f);
/**
* Landing slope angle
*
* @unit deg
* @min 1.0
* @max 15.0
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
*
*
* @unit m
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
* @unit m
* @min 0.0
* @max 25.0
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f);
/**
* Landing throttle limit altitude (relative landing altitude)
*
* Default of -1.0 lets the system default to applying throttle
* limiting at 2/3 of the flare altitude.
*
* @unit m
* @min -1.0
* @max 30.0
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f);
/**
* Landing heading hold horizontal distance
*
* @unit m
* @min 0
* @max 30.0
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Enable or disable usage of terrain estimate during landing
*
* 0: disabled, 1: enabled
*
* @boolean
* @group FW L1 Control
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
* @unit deg
* @min 0
* @max 15.0
* @group FW L1 Control
*
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once FW_LND_TLALT is reached
*
* @unit deg
* @min 0
* @max 45.0
* @group FW L1 Control
*
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Landing airspeed scale factor
*
* Multiplying this factor with the minimum airspeed of the plane
* gives the target airspeed the landing approach.
*
* @min 1.0
* @max 1.5
* @group FW L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD_SC, 1.3f);