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PX4-Autopilot/src/modules/vtol_att_control/vtol_att_control_params.c
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Silvan Fuhrer f5ecd1106f VTOL: some parater meta data fixes/improvements 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2022-11-14 16:25:46 +01:00

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/****************************************************************************
*
* Copyright (c) 2014-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vtol_att_control_params.c
* Parameters for vtol attitude controller.
*
* @author Roman Bapst <roman@px4.io>
* @author Sander Smeets <sander@droneslab.com>
*/
/**
* VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
*
* @value 0 Tailsitter
* @value 1 Tiltrotor
* @value 2 Standard
* @min 0
* @max 2
* @reboot_required true
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_TYPE, 0);
/**
* Lock control surfaces in hover
*
* If set to 1 the control surfaces are locked at the disarmed value in multicopter mode.
*
* @boolean
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 1);
/**
* Duration of a front transition
*
* Time in seconds used for a transition
*
* @unit s
* @min 0.1
* @max 20.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
/**
* Duration of a back transition
*
* Time in seconds used for a back transition
*
* @unit s
* @min 0.1
* @max 20.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f);
/**
* Target throttle value for the transition to fixed wing flight.
*
* standard vtol: pusher
*
* tailsitter, tiltrotor: main throttle
*
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_F_TRANS_THR, 1.0f);
/**
* Target throttle value for the transition to hover flight.
*
* standard vtol: pusher
*
* tailsitter, tiltrotor: main throttle
*
* Note for standard vtol:
* For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking
* For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking
*
* @min -1
* @max 1
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_TRANS_THR, 0.0f);
/**
* Approximate deceleration during back transition
*
* The approximate deceleration during a back transition in m/s/s
* Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.
* For standard vtol and tiltrotors a controller is used to track this value during the transition.
*
* @unit m/s^2
* @min 0.5
* @max 10
* @increment 0.1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_MSS, 2.0f);
/**
* Transition blending airspeed
*
* Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.
*
* @unit m/s
* @min 0.00
* @max 30.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_ARSP_BLEND, 8.0f);
/**
* Transition airspeed
*
* Airspeed at which we can switch to fw mode
*
* @unit m/s
* @min 0.00
* @max 30.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f);
/**
* Front transition timeout
*
* Time in seconds after which transition will be cancelled. Disabled if set to 0.
*
* @unit s
* @min 0.1
* @max 30.00
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
/**
* Front transition minimum time
*
* Minimum time in seconds for front transition.
*
* @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);
/**
* QuadChute Altitude
*
* 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);
/**
* Adaptive QuadChute
*
* 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);
/**
* QuadChute Max Pitch
*
* Maximum pitch angle before QuadChute engages
* Above this the vehicle will transition back to MC mode and enter failsafe RTL
* @min 0
* @max 180
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
/**
* QuadChute Max Roll
*
* Maximum roll angle before QuadChute engages
* Above this the vehicle will transition back to MC mode and enter failsafe RTL
* @min 0
* @max 180
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
/**
* Airspeed less front transition time (open loop)
*
* The duration of the front transition when there is no airspeed feedback available.
*
* @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);
/**
* Differential thrust in forwards flight.
*
* 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.
*
* @min 0
* @max 7
* @bit 0 Yaw
* @bit 1 Roll
* @bit 2 Pitch
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
/**
* Roll differential thrust factor in forward flight
*
* Maps the roll control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_R, 1.f);
/**
* Pitch differential thrust factor in forward flight
*
* Maps the pitch control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_P, 1.f);
/**
* Yaw differential thrust factor in forward flight
*
* Maps the yaw control output in forward flight to the actuator differential thrust output.
*
* Differential thrust in forward flight is enabled via VT_FW_DIFTHR_EN.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_S_Y, 0.1f);
/**
* Backtransition deceleration setpoint to pitch feedforward gain.
*
*
* @unit rad s^2/m
* @min 0
* @max 0.2
* @decimal 2
* @increment 0.01
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.f);
/**
* Backtransition deceleration setpoint to pitch I gain.
*
*
* @unit rad s/m
* @min 0
* @max 0.3
* @decimal 2
* @increment 0.05
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f);
/**
* Minimum pitch angle during hover.
*
* Minimum pitch angle during hover flight. If the desired pitch angle is is lower than this value
* 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);
/**
* Minimum pitch angle during hover landing.
*
* Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
* 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);
/**
* Spoiler setting while landing (hover)
*
* @unit norm
* @min -1
* @max 1
* @decimal 1
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_SPOILER_MC_LD, 0.f);
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