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359 lines
8.1 KiB
C
359 lines
8.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014 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 vtol_att_control_params.c
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* Parameters for vtol attitude controller.
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*
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* @author Roman Bapst <roman@px4.io>
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* @author Sander Smeets <sander@droneslab.com>
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*/
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/**
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* VTOL number of engines
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*
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* @min 0
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* @max 8
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* @increment 1
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* @decimal 0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
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/**
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* Idle speed of VTOL when in multicopter mode
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*
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* @unit us
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* @min 900
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* @max 2000
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* @increment 1
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* @decimal 0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
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/**
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* Minimum airspeed in multicopter mode
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*
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* This is the minimum speed of the air flowing over the control surfaces.
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*
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* @unit m/s
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* @min 0.0
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* @max 30.0
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* @increment 0.5
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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_MC_ARSPD_MIN, 10.0f);
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/**
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* Maximum airspeed in multicopter mode
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*
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* This is the maximum speed of the air flowing over the control surfaces.
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*
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* @unit m/s
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* @min 0.0
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* @max 30.0
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* @increment 0.5
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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_MC_ARSPD_MAX, 30.0f);
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/**
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* Trim airspeed when in multicopter mode
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*
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* This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
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*
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* @unit m/s
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* @min 0.0
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* @max 30.0
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* @increment 0.5
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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_MC_ARSPD_TRIM, 10.0f);
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/**
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* Permanent stabilization in fw mode
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*
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* If set to one this parameter will cause permanent attitude stabilization in fw mode.
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* This parameter has been introduced for pure convenience sake.
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*
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* @boolean
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
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/**
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* Fixed wing pitch trim
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*
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* This parameter allows to adjust the neutral elevon position in fixed wing mode.
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*
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* @min -1.0
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* @max 1.0
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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_FW_PITCH_TRIM, 0.0f);
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/**
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* Motor max power
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*
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* Indicates the maximum power the motor is able to produce. Used to calculate
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* propeller efficiency map.
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*
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* @unit W
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* @min 1
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* @max 10000
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* @increment 1
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* @decimal 0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_POWER_MAX, 120.0f);
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/**
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* Propeller efficiency parameter
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*
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* Influences propeller efficiency at different power settings. Should be tuned beforehand.
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f);
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/**
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* Total airspeed estimate low-pass filter gain
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*
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* Gain for tuning the low-pass filter for the total airspeed estimate
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f);
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/**
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* VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
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*
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* @value 0 Tailsitter
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* @value 1 Tiltrotor
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* @value 2 Standard
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* @min 0
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* @max 2
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* @decimal 0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_TYPE, 0);
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/**
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* Lock elevons in multicopter mode
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*
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* If set to 1 the elevons are locked in multicopter mode
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*
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* @boolean
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0);
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/**
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* Duration of a front transition
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*
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* Time in seconds used for a transition
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*
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* @unit s
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* @min 0.00
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* @max 20.00
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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_F_TRANS_DUR, 5.0f);
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/**
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* Duration of a back transition
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*
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* Time in seconds used for a back transition
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*
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* @unit s
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* @min 0.00
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* @max 20.00
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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_TRANS_DUR, 4.0f);
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/**
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* Approximate deceleration during back transition
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*
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* The approximate deceleration during a back transition in m/s/s
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* Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
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*
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* @unit m/s/s
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* @min 0.00
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* @max 20.00
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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_DEC_MSS, 2.0f);
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/**
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* Transition blending airspeed
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*
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* Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
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*
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* @unit m/s
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* @min 0.00
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* @max 30.00
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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_ARSP_BLEND, 8.0f);
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/**
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* Transition airspeed
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*
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* Airspeed at which we can switch to fw mode
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*
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* @unit m/s
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* @min 0.00
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* @max 30.00
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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_ARSP_TRANS, 10.0f);
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/**
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* Optimal recovery strategy for pitch-weak tailsitters
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*
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* @boolean
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_OPT_RECOV_EN, 0);
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/**
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* Weather-vane yaw rate scale.
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*
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* The desired yawrate from the controller will be scaled in order to avoid
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* yaw fighting against the wind.
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_WV_YAWR_SCL, 0.15f);
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/**
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* Front transition timeout
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*
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* Time in seconds after which transition will be cancelled. Disabled if set to 0.
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*
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* @unit s
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* @min 0.00
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* @max 30.00
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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_TRANS_TIMEOUT, 15.0f);
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/**
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* Front transition minimum time
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*
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* Minimum time in seconds for front transition.
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*
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* @unit s
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* @min 0.0
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* @max 10.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
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/**
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* QuadChute Altitude
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*
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* Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude
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* the vehicle will transition back to MC mode and enter failsafe RTL
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* @min 0.0
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* @max 200.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f);
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/**
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* QuadChute Max Pitch
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*
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* Maximum pitch angle before QuadChute engages
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* Above this the vehicle will transition back to MC mode and enter failsafe RTL
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* @min 0
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* @max 180
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
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/**
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* QuadChute Max Roll
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*
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* Maximum roll angle before QuadChute engages
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* Above this the vehicle will transition back to MC mode and enter failsafe RTL
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* @min 0
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* @max 180
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
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/**
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* Airspeed less front transition time (open loop)
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*
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* The duration of the front transition when there is no airspeed feedback available.
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*
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* @unit seconds
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* @min 1.0
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* @max 30.0
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_F_TR_OL_TM, 6.0f);
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