PX4-Autopilot/src/modules/vtol_att_control/vtol_att_control_params.yaml

module_name: vtol_att_control
parameters:
- group: VTOL Attitude Control
  definitions:
    VT_TYPE:
      description:
        short: VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
      type: enum
      values:
        0: Tailsitter
        1: Tiltrotor
        2: Standard
      default: 0
      min: 0
      max: 2
      reboot_required: true
    VT_ELEV_MC_LOCK:
      description:
        short: Lock control surfaces in hover
        long: If set to 1 the control surfaces are locked at the disarmed value in
          multicopter mode.
      type: boolean
      default: 1
    VT_F_TRANS_DUR:
      description:
        short: Duration of a front transition
        long: Time in seconds used for a transition
      type: float
      default: 5.0
      unit: s
      min: 0.1
      max: 20.0
      increment: 1
      decimal: 2
    VT_B_TRANS_DUR:
      description:
        short: Maximum duration of a back transition
        long: Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.
      type: float
      default: 10.0
      unit: s
      min: 0.1
      max: 20.0
      increment: 1
      decimal: 2
    VT_F_TRANS_THR:
      description:
        short: Target throttle value for the transition to fixed-wing flight
      type: float
      default: 1.0
      min: 0.0
      max: 1.0
      increment: 0.01
      decimal: 3
    VT_B_DEC_MSS:
      description:
        short: Approximate deceleration during back transition
        long: |-
          Used to calculate back transition distance in an auto mode.
          For standard vtol and tiltrotors a controller is used to track this value during the transition.
      type: float
      default: 2.0
      unit: m/s^2
      min: 0.5
      max: 10
      increment: 0.1
      decimal: 2
    VT_ARSP_BLEND:
      description:
        short: Transition blending airspeed
        long: Airspeed at which we can start blending both fw and mc controls. Set
          to 0 to disable.
      type: float
      default: 8.0
      unit: m/s
      min: 0.0
      max: 30.0
      increment: 1
      decimal: 2
    VT_ARSP_TRANS:
      description:
        short: Transition airspeed
        long: Airspeed at which we can switch to fw mode
      type: float
      default: 10.0
      unit: m/s
      min: 0.0
      max: 30.0
      increment: 1
      decimal: 2
    VT_TRANS_TIMEOUT:
      description:
        short: Front transition timeout
        long: Time in seconds after which transition will be cancelled.
      type: float
      default: 15.0
      unit: s
      min: 0.1
      max: 30.0
      increment: 1
      decimal: 2
    VT_TRANS_MIN_TM:
      description:
        short: Front transition minimum time
        long: Minimum time in seconds for front transition.
      type: float
      default: 2.0
      unit: s
      min: 0.0
      max: 20.0
      increment: 0.1
      decimal: 1
    VT_FW_MIN_ALT:
      description:
        short: Quad-chute altitude
        long: |-
          Minimum altitude for fixed-wing flight. When the vehicle is in fixed-wing mode
          and the altitude drops below this altitude (relative altitude above local origin),
          it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.
      type: float
      default: 0.0
      unit: m
      min: 0.0
      max: 200.0
      increment: 1
      decimal: 1
    VT_QC_ALT_LOSS:
      description:
        short: Quad-chute uncommanded descent threshold
        long: |-
          Altitude error threshold for quad-chute triggering during fixed-wing flight.
          The check is only active if altitude is controlled and the vehicle is below the current altitude reference.
          The altitude error is relative to the highest altitude the vehicle has achieved since it has flown below the current
          altitude reference.

          Set to 0 do disable.
      type: float
      default: 0.0
      unit: m
      min: 0.0
      max: 200.0
      increment: 1
      decimal: 1
    VT_QC_T_ALT_LOSS:
      description:
        short: Quad-chute transition altitude loss threshold
        long: |-
          Altitude loss threshold for quad-chute triggering during VTOL transition to fixed-wing flight
          in altitude-controlled flight modes.
          Active until 5s after completing transition to fixed-wing.
          If the current altitude is more than this value below the altitude at the beginning of the
          transition, it will instantly switch back to MC mode and execute behavior defined in COM_QC_ACT.

          Set to 0 do disable this threshold.
      type: float
      default: 20.0
      unit: m
      min: 0
      max: 50
      increment: 1
      decimal: 1
    VT_FW_QC_P:
      description:
        short: Quad-chute max pitch threshold
        long: |-
          Absolute pitch threshold for quad-chute triggering in FW mode.
          Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
          Set to 0 do disable this threshold.
      type: int32
      default: 0
      unit: deg
      min: 0
      max: 180
    VT_FW_QC_R:
      description:
        short: Quad-chute max roll threshold
        long: |-
          Absolute roll threshold for quad-chute triggering in FW mode.
          Above this the vehicle will transition back to MC mode and execute behavior defined in COM_QC_ACT.
          Set to 0 do disable this threshold.
      type: int32
      default: 0
      unit: deg
      min: 0
      max: 180
    VT_FW_QC_HMAX:
      description:
        short: Quad-chute maximum height
        long: |-
          Maximum height above the ground (if available, otherwise above
          Home if available, otherwise above the local origin) where triggering a quad-chute is possible.
          At high altitudes there is a big risk to deplete the battery and therefore crash if quad-chuting there.
      type: int32
      default: 0
      unit: m
      min: 0
      increment: 1
    VT_F_TR_OL_TM:
      description:
        short: Airspeed-less front transition time (open loop)
        long: |-
          The duration of the front transition when there is no airspeed feedback available.
          When airspeed is used, transition timeout is declared if airspeed does not
          reach VT_ARSP_BLEND after this time.
      type: float
      default: 6.0
      unit: s
      min: 1.0
      max: 30.0
      increment: 0.5
      decimal: 1
    VT_FW_DIFTHR_EN:
      description:
        short: Differential thrust in forwards flight
        long: |-
          Enable differential thrust seperately for roll, pitch, yaw in forward (fixed-wing) mode.
          The effectiveness of differential thrust around the corresponding axis can be
          tuned by setting VT_FW_DIFTHR_S_R / VT_FW_DIFTHR_S_P / VT_FW_DIFTHR_S_Y.
      type: bitmask
      bit:
        0: Yaw
        1: Roll
        2: Pitch
      default: 0
      min: 0
      max: 7
    VT_FW_DIFTHR_S_R:
      description:
        short: Roll differential thrust factor in forward flight
        long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
      type: float
      default: 1.0
      min: 0.0
      max: 2.0
      decimal: 2
      increment: 0.1
    VT_FW_DIFTHR_S_P:
      description:
        short: Pitch differential thrust factor in forward flight
        long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
      type: float
      default: 1.0
      min: 0.0
      max: 2.0
      decimal: 2
      increment: 0.1
    VT_FW_DIFTHR_S_Y:
      description:
        short: Yaw differential thrust factor in forward flight
        long: Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
      type: float
      default: 0.1
      min: 0.0
      max: 2.0
      decimal: 2
      increment: 0.1
    VT_B_DEC_I:
      description:
        short: Backtransition deceleration setpoint to tilt I gain
      type: float
      default: 0.1
      unit: rad s/m
      min: 0
      max: 0.3
      decimal: 2
      increment: 0.05
    VT_PITCH_MIN:
      description:
        short: Minimum pitch angle during hover
        long: |-
          Any pitch setpoint below this value is translated to a forward force by the fixed-wing forward actuation if
          VT_FWD_TRHUST_EN is set.
      type: float
      default: 0.0
      unit: deg
      min: -10.0
      max: 45.0
      increment: 0.1
      decimal: 1
    VT_LND_PITCH_MIN:
      description:
        short: Minimum pitch angle during hover landing
        long: |-
          Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
          During landing it can be beneficial to reduce the pitch angle to reduce the generated lift in head wind.
      type: float
      default: 0.0
      unit: deg
      min: -10.0
      max: 45.0
      increment: 0.1
      decimal: 1
    VT_SPOILER_MC_LD:
      description:
        short: Spoiler setting while landing (hover)
      type: float
      default: 0.0
      unit: norm
      min: -1
      max: 1
      decimal: 1
      increment: 0.1