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PX4-Autopilot/src/modules/fw_rate_control/fw_rate_control_params.c
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Silvan Fuhrer 9e0c8fd75e FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2023-12-21 11:34:28 +01:00

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/****************************************************************************
*
* Copyright (c) 2013-2023 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_rate_control_params.c
*
* Parameters defined by the fixed-wing rate control task
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* Use airspeed for control
*
* If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
* - Rate controller: output scaling
* - Attitude controller: coordinated turn controller
* - Position controller: airspeed setpoint tracking, takeoff logic
* - VTOL: transition logic
*
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1);
/**
* Pitch rate proportional gain.
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
/**
* Pitch rate derivative gain.
*
* Pitch rate differential gain.
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_PR_D, 0.f);
/**
* Pitch rate integrator gain.
*
* @unit %/rad
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.1f);
/**
* Pitch rate integrator limit
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
/**
* Roll rate proportional gain
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
/**
* Roll rate derivative gain
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_D, 0.0f);
/**
* Roll rate integrator gain
*
* @unit %/rad
* @min 0.0
* @max 10
* @decimal 2
* @increment 0.01
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
/**
* Roll integrator limit
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
/**
* Yaw rate proportional gain
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
/**
* Yaw rate derivative gain
*
* @unit %/rad/s
* @min 0.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
/**
* Yaw rate integrator gain
*
* @unit %/rad
* @min 0.0
* @max 10
* @decimal 1
* @increment 0.5
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_YR_I, 0.1f);
/**
* Yaw rate integrator limit
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
/**
* Roll 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 Rate 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 Rate 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 Rate Control
*/
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
/**
* Acro body roll max rate setpoint
*
* @min 10
* @max 720
* @unit deg
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
/**
* Acro body pitch max rate setpoint
*
* @min 10
* @max 720
* @unit deg
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
/**
* Acro body yaw max rate setpoint
*
* @min 10
* @max 720
* @unit deg
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
/**
* Enable throttle scale by battery level
*
* This compensates for voltage drop of the battery over time by attempting to
* normalize performance across the operating range of the battery.
*
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 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 Rate Control
*/
PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
/**
* Roll trim increment at minimum airspeed
*
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.5
* @max 0.5
* @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 Rate Control
* @min -0.5
* @max 0.5
* @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 Rate Control
* @min -0.5
* @max 0.5
* @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 Rate Control
* @min -0.5
* @max 0.5
* @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 Rate Control
* @min -0.5
* @max 0.5
* @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 Rate Control
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMAX, 0.0f);
/**
* 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 Rate 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 Rate 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 Rate Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);
/**
* 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 to counteract this effect.
*
* @min 0.0
* @decimal 1
* @increment 0.01
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);
/**
* Spoiler input in manual flight
*
* Chose source for manual setting of spoilers in manual flight modes.
*
* @value 0 Disabled
* @value 1 Flaps channel
* @value 2 Aux1
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
/**
* Enable yaw rate controller in Acro
*
* If this parameter is set to 1, the yaw rate controller is enabled in Fixed-wing Acro mode.
* Otherwise the pilot commands directly the yaw actuator.
* It is disabled by default because an active yaw rate controller will fight against the
* natural turn coordination of the plane.
*
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0);
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