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PX4-Autopilot/src/modules/fw_att_control/fw_att_control_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2015 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 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);
/**
* Pitch setpoint offset (pitch at level flight)
*
* An airframe specific offset of the pitch setpoint in degrees, the value is
* added to the pitch setpoint and should correspond to the pitch at
* 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);
/**
* Enable airspeed scaling
*
* This enables a logic that automatically adjusts the output of the rate controller to take
* into account the real torque produced by an aerodynamic control surface given
* the current deviation from the trim airspeed (FW_AIRSPD_TRIM).
*
* Enable when using aerodynamic control surfaces (e.g.: plane)
* Disable when using rotor wings (e.g.: autogyro)
*
* @boolean
* @group FW Attitude Control
*/
PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
/**
* 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 deg
* @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 deg
* @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 deg
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
/**
* 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);
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