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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-21 21:13:33 +08:00
Silvan Fuhrer
f78847b26f
* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist Depending on the setting of this param, the pusher assist is: -completely disabled (default) -enabled in pos, alt and auto mode (except LAND) -enabled in pos, alt and auto mode if above MPC_LAND_ALT1 -enabled in pos, alt and auto mode if above MPC_LAND_ALT2 -enabled in pos, alt and auto mode (before it was always disabled in LAND mode) -change default of VT_FWD_THRUST_SC from 0 to 0.7 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
134 lines
4.9 KiB
C
134 lines
4.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file standard_params.c
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* Parameters for the standard VTOL controller.
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*
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* @author Simon Wilks <simon@uaventure.com>
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* @author Roman Bapst <roman@px4.io>
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*/
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/**
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* Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
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* This technique can be used to avoid the plane having to pitch down in order to move forward.
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* This prevents large, negative lift values being created when facing strong winds.
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* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
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* Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
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* demanded down pitch to fixed-wing actuation.
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*
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* @value 0 Disable FW forward actuation in hover.
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* @value 1 Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
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* @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
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* @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
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* @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
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*
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
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/**
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* Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
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* when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
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* If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
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*
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* @min 0.0
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* @max 45.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);
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/**
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* Fixed-wing actuator thrust scale for hover forward flight.
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*
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* Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode.
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* Only active if demaded down pitch is above VT_DWN_PITCH_MAX.
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* Enabled via VT_FWD_THRUST_EN.
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*
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* @min 0.0
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* @max 2.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
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/**
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* Back transition MC motor ramp up time
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*
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* This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
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*
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* @unit s
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* @min 0.0
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* @max 20.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
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/**
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* Output on airbrakes channel during back transition
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* Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel
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* Airbrakes need to be enables for your selected model/mixer
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*
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* @min 0
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* @max 1
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* @increment 0.01
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* @decimal 2
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
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/**
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* Delay in seconds before applying back transition throttle
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* Set this to a value greater than 0 to give the motor time to spin down.
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*
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* unit s
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* @min 0
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* @max 10
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* @increment 1
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* @decimal 2
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
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/**
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* Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
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* to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
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*
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* @max 20
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* @increment 0.01
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* @decimal 2
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);
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