PX4-Autopilot/src/modules/fw_att_control/fw_att_control_params.c

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/**
 * @file fw_att_control_params.c
 *
 * Parameters defined by the fixed-wing attitude control task
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Thomas Gubler <thomas@px4.io>
 */

/*
 * Controller parameters, accessible via MAVLink
 *
 */

/**
 * Attitude Roll Time Constant
 *
 * This defines the latency between a roll step input and the achieved setpoint
 * (inverse to a P gain). Half a second is a good start value and fits for
 * most average systems. Smaller systems may require smaller values, but as
 * this will wear out servos faster, the value should only be decreased as
 * needed.
 *
 * @unit s
 * @min 0.4
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);

/**
 * Attitude pitch time constant
 *
 * This defines the latency between a pitch step input and the achieved setpoint
 * (inverse to a P gain). Half a second is a good start value and fits for
 * most average systems. Smaller systems may require smaller values, but as
 * this will wear out servos faster, the value should only be decreased as
 * needed.
 *
 * @unit s
 * @min 0.2
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);

/**
 * Pitch rate proportional gain.
 *
 * This defines how much the elevator input will be commanded depending on the
 * current body angular rate error.
 *
 * @unit %/rad/s
 * @min 0.005
 * @max 1.0
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);

/**
 * Pitch rate integrator gain.
 *
 * This gain defines how much control response will result out of a steady
 * state error. It trims any constant error.
 *
 * @unit %/rad
 * @min 0.005
 * @max 0.5
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f);

/**
 * Maximum positive / up pitch rate.
 *
 * This limits the maximum pitch up angular rate the controller will output (in
 * degrees per second).
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);

/**
 * Maximum negative / down pitch rate.
 *
 * This limits the maximum pitch down up angular rate the controller will
 * output (in degrees per second).
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);

/**
 * Pitch rate integrator limit
 *
 * The portion of the integrator part in the control surface deflection is
 * limited to this value
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);

/**
 * Roll rate proportional Gain
 *
 * This defines how much the aileron input will be commanded depending on the
 * current body angular rate error.
 *
 * @unit %/rad/s
 * @min 0.005
 * @max 1.0
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);

/**
 * Roll rate integrator Gain
 *
 * This gain defines how much control response will result out of a steady
 * state error. It trims any constant error.
 *
 * @unit %/rad
 * @min 0.005
 * @max 0.2
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);

/**
 * Roll integrator anti-windup
 *
 * The portion of the integrator part in the control surface deflection is limited to this value.
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);

/**
 * Maximum roll rate
 *
 * This limits the maximum roll rate the controller will output (in degrees per
 * second).
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);

/**
 * Yaw rate proportional gain
 *
 * This defines how much the rudder input will be commanded depending on the
 * current body angular rate error.
 *
 * @unit %/rad/s
 * @min 0.005
 * @max 1.0
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);

/**
 * Yaw rate integrator gain
 *
 * This gain defines how much control response will result out of a steady
 * state error. It trims any constant error.
 *
 * @unit %/rad
 * @min 0.0
 * @max 50.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f);

/**
 * Yaw rate integrator limit
 *
 * The portion of the integrator part in the control surface deflection is
 * limited to this value
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);

/**
 * Maximum yaw rate
 *
 * This limits the maximum yaw rate the controller will output (in degrees per
 * second).
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 50.0f);

/**
 * Roll control to yaw control feedforward gain.
 *
 * This gain can be used to counteract the "adverse yaw" effect for fixed wings.
 * When the plane enters a roll it will tend to yaw the nose out of the turn.
 * This gain enables the use of a yaw actuator (rudder, airbrakes, ...) to counteract
 * this effect.
 *
 * @min 0.0
 * @decimal 1
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);

/**
 * Enable wheel steering controller
 *
 * @boolean
 * @group FW Attitude Control
 */
PARAM_DEFINE_INT32(FW_W_EN, 0);


/**
 * Wheel steering rate proportional gain
 *
 * This defines how much the wheel steering input will be commanded depending on the
 * current body angular rate error.
 *
 * @unit %/rad/s
 * @min 0.005
 * @max 1.0
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);

/**
 * Wheel steering rate integrator gain
 *
 * This gain defines how much control response will result out of a steady
 * state error. It trims any constant error.
 *
 * @unit %/rad
 * @min 0.005
 * @max 0.5
 * @decimal 3
 * @increment 0.005
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);

/**
 * Wheel steering rate integrator limit
 *
 * The portion of the integrator part in the control surface deflection is
 * limited to this value
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);

/**
 * Maximum wheel steering rate
 *
 * This limits the maximum wheel steering rate the controller will output (in degrees per
 * second).
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);

/**
 * Roll rate feed forward
 *
 * Direct feed forward from rate setpoint to control surface output. Use this
 * to obtain a tigher response of the controller without introducing
 * noise amplification.
 *
 * @unit %/rad/s
 * @min 0.0
 * @max 10.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);

/**
 * Pitch rate feed forward
 *
 * Direct feed forward from rate setpoint to control surface output
 *
 * @unit %/rad/s
 * @min 0.0
 * @max 10.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);

/**
 * Yaw rate feed forward
 *
 * Direct feed forward from rate setpoint to control surface output
 *
 * @unit %/rad/s
 * @min 0.0
 * @max 10.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);

/**
 * Wheel steering rate feed forward
 *
 * Direct feed forward from rate setpoint to control surface output
 *
 * @unit %/rad/s
 * @min 0.0
 * @max 10.0
 * @decimal 2
 * @increment 0.05
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);

/**
 * Roll setpoint offset
 *
 * An airframe specific offset of the roll setpoint in degrees, the value is
 * added to the roll setpoint and should correspond to the typical cruise speed
 * of the airframe.
 *
 * @unit deg
 * @min -90.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);

/**
 * Pitch setpoint offset
 *
 * An airframe specific offset of the pitch setpoint in degrees, the value is
 * added to the pitch setpoint and should correspond to the typical cruise
 * speed of the airframe.
 *
 * @unit deg
 * @min -90.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);

/**
 * Max manual roll
 *
 * Max roll for manual control in attitude stabilized mode
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);

/**
 * Max manual pitch
 *
 * Max pitch for manual control in attitude stabilized mode
 *
 * @unit deg
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);

/**
 * Scale factor for flaps
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);

/**
 * Flaps setting during take-off
 *
 * Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);

/**
 * Flaps setting during landing
 *
 * Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);

/**
 * Scale factor for flaperons
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);

/**
 * Airspeed mode
 *
 * For small wings or VTOL without airspeed sensor this parameter can be used to
 * enable flying without an airspeed reading
 *
 * @value 0 Normal (use airspeed if available)
 * @value 1 Airspeed disabled
 * @group FW Attitude Control
 */
PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);

/**
 * Manual roll scale
 *
 * Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows
 * to adjust the throws of the control surfaces.
 *
 * @unit norm
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f);

/**
 * Manual pitch scale
 *
 * Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows
 * to adjust the throws of the control surfaces.
 *
 * @unit norm
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f);

/**
 * Manual yaw scale
 *
 * Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows
 * to adjust the throws of the control surfaces.
 *
 * @unit norm
 * @min 0.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);

/**
 * Whether to scale throttle by battery power level
 *
 * This compensates for voltage drop of the battery over time by attempting to
 * normalize performance across the operating range of the battery. The fixed wing
 * should constantly behave as if it was fully charged with reduced max thrust
 * at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery,
 * it will still be 0.5 at 60% battery.
 *
 * @boolean
 * @group FW Attitude Control
 */
PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);

/**
 * Acro body x max rate.
 *
 * This is the rate the controller is trying to achieve if the user applies full roll
 * stick input in acro mode.
 *
 * @min 45
 * @max 720
 * @unit degrees
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);

/**
 * Acro body y max rate.
 *
 * This is the body y rate the controller is trying to achieve if the user applies full pitch
 * stick input in acro mode.
 *
 * @min 45
 * @max 720
 * @unit degrees
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);

/**
 * Acro body z max rate.
 *
 * This is the body z rate the controller is trying to achieve if the user applies full yaw
 * stick input in acro mode.
 *
 * @min 10
 * @max 180
 * @unit degrees
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);

/**
 * Threshold for Rattitude mode
 *
 * Manual input needed in order to override attitude control rate setpoints
 * and instead pass manual stick inputs as rate setpoints
 *
 * @min 0.0
 * @max 1.0
 * @decimal 2
 * @increment 0.01
 * @group FW Attitude Control
 */
PARAM_DEFINE_FLOAT(FW_RATT_TH, 0.8f);

/**
* Roll trim increment at minimum airspeed
*
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);

/**
* Pitch trim increment at minimum airspeed
*
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);

/**
* Yaw trim increment at minimum airspeed
*
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);

/**
* Roll trim increment at maximum airspeed
*
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);

/**
* Pitch trim increment at maximum airspeed
*
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);

/**
* Yaw trim increment at maximum airspeed
*
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMAX, 0.0f);

/**
 * Roll trim increment for flaps configuration
 *
 * This increment is added to TRIM_ROLL whenever flaps are fully deployed.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_R_FLPS, 0.0f);

/**
 * Pitch trim increment for flaps configuration
 *
 * This increment is added to the pitch trim whenever flaps are fully deployed.
 *
 * @group FW Attitude Control
 * @min -0.25
 * @max 0.25
 * @decimal 2
 * @increment 0.01
 */
PARAM_DEFINE_FLOAT(FW_DTRIM_P_FLPS, 0.0f);