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PX4-Autopilot/src/modules/fw_path_navigation/fw_path_navigation_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2016 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.
*
****************************************************************************/
/**
* Path navigation roll slew rate limit.
*
* The maximum change in roll angle setpoint per second.
*
* @unit deg/s
* @min 0
* @decimal 0
* @increment 1
* @group FW Path Control
*/
PARAM_DEFINE_FLOAT(FW_PN_R_SLEW_MAX, 90.0f);
/**
* NPFG period
*
* Period of the NPFG control law.
*
* @unit s
* @min 1.0
* @max 100.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD, 10.0f);
/**
* NPFG damping ratio
*
* Damping ratio of the NPFG control law.
*
* @min 0.10
* @max 1.00
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_DAMPING, 0.7f);
/**
* Enable automatic lower bound on the NPFG period
*
* Avoids limit cycling from a too aggressively tuned period/damping combination.
* If set to false, also disables the upper bound NPFG_PERIOD_UB.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_LB_PERIOD, 1);
/**
* Enable automatic upper bound on the NPFG period
*
* Adapts period to maintain track keeping in variable winds and path curvature.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_UB_PERIOD, 1);
/**
* Enable track keeping excess wind handling logic.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_TRACK_KEEP, 1);
/**
* Enable minimum forward ground speed maintaining excess wind handling logic
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_EN_MIN_GSP, 1);
/**
* Enable wind excess regulation.
*
* Disabling this parameter further disables all other airspeed incrementation options.
*
* @boolean
* @group FW NPFG Control
*/
PARAM_DEFINE_INT32(NPFG_WIND_REG, 1);
/**
* Maximum, minimum forward ground speed for track keeping in excess wind
*
* The maximum value of the minimum forward ground speed that may be commanded
* by the track keeping excess wind handling logic. Commanded in full at the normalized
* track error fraction of the track error boundary and reduced to zero on track.
*
* @unit m/s
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_GSP_MAX_TK, 5.0f);
/**
* Roll time constant
*
* Time constant of roll controller command / response, modeled as first order delay.
* Used to determine lower period bound. Setting zero disables automatic period bounding.
*
* @unit s
* @min 0.00
* @max 2.00
* @decimal 2
* @increment 0.05
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_ROLL_TC, 0.5f);
/**
* NPFG switch distance multiplier
*
* Multiplied by the track error boundary to determine when the aircraft switches
* to the next waypoint and/or path segment. Should be less than 1.
*
* @min 0.1
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
/**
* Period safety factor
*
* Multiplied by period for conservative minimum period bounding (when period lower
* bounding is enabled). 1.0 bounds at marginal stability.
*
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.1
* @group FW NPFG Control
*/
PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
/**
* Trim throttle
*
* This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight. Most airframes have a value of 0.5-0.7.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f);
/**
* Throttle max slew rate
*
* Maximum slew rate for the commanded throttle
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f);
/**
* Minimum pitch angle
*
* The minimum pitch angle setpoint for autonomous modes including altitude and position control.
*
* @unit deg
* @min -60.0
* @max 0.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f);
/**
* Maximum pitch angle
*
* The maximum pitch angle setpoint for autonomous modes including altitude and position control.
*
* @unit deg
* @min 0.0
* @max 60.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f);
/**
* Maximum roll angle
*
* The maximum roll angle setpoint for autonomous modes including altitude and position control.
*
* @unit deg
* @min 35.0
* @max 65.0
* @decimal 1
* @increment 0.5
* @group FW Path Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
/**
* Throttle limit max
*
* This is the maximum throttle % that can be used by the controller.
* For overpowered aircraft, this should be reduced to a value that
* provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
* This is the minimum throttle % that can be used by the controller.
* For electric aircraft this will normally be set to zero, but can be set
* to a small non-zero value if a folding prop is fitted to prevent the
* prop from folding and unfolding repeatedly in-flight or to provide
* some aerodynamic drag from a turning prop to improve the descent rate.
*
* For aircraft with internal combustion engine this parameter should be set
* for desired idle rpm.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Idle throttle
*
* This is the minimum throttle while on the ground
*
* For aircraft with internal combustion engines, this parameter should be set
* above the desired idle rpm. For electric motors, idle should typically be set
* to zero.
*
* Note that in automatic modes, "landed" conditions will engage idle throttle.
*
* @unit norm
* @min 0.0
* @max 0.4
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_THR_IDLE, 0.0f);
/**
* Maximum landing slope angle
*
* Typically the desired landing slope angle when landing configuration (flaps, airspeed) is enabled.
* Set this value within the vehicle's performance limits.
*
* @unit deg
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
* Minimum pitch during takeoff.
*
* @unit deg
* @min -5.0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group FW Path Control
*/
PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f);
/**
* Takeoff Airspeed
*
* The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout.
*
* If set <= 0.0, FW_AIRSPD_MIN will be set by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
/**
* Landing flare altitude (relative to landing altitude)
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * |z-velocity|) is taken as the flare altitude
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
/**
* Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible.
*
* NOTE: terrain estimate is currently solely derived from a distance sensor.
*
* If enabled and no measurement is found within a given timeout, the landing waypoint altitude will be used OR the landing
* will be aborted, depending on the criteria set in FW_LND_ABORT.
*
* If disabled, FW_LND_ABORT terrain based criteria are ignored.
*
* @min 0
* @max 2
* @value 0 Disable the terrain estimate
* @value 1 Use the terrain estimate to trigger the flare (only)
* @value 2 Calculate landing glide slope relative to the terrain estimate
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_USETER, 1);
/**
* Early landing configuration deployment
*
* When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated
* on the final approach to landing. When enabled, it is already activated when entering the
* final loiter-down (loiter-to-alt) waypoint before the landing approach. This shifts the (often large)
* altitude and airspeed errors caused by the configuration change away from the ground such that
* these are not so critical. It also gives the controller enough time to adapt to the new
* configuration such that the landing approach starts with a cleaner initial state.
*
* @boolean
*
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);
/**
* Flare, minimum pitch
*
* Minimum pitch during flare, a positive sign means nose up
* Applied once flaring is triggered
*
* @unit deg
* @min -5
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f);
/**
* Flare, maximum pitch
*
* Maximum pitch during flare, a positive sign means nose up
* Applied once flaring is triggered
*
* @unit deg
* @min 0
* @max 45.0
* @decimal 1
* @increment 0.5
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f);
/**
* Landing airspeed
*
* The calibrated airspeed setpoint during landing.
*
* If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default.
*
* @unit m/s
* @min -1.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
/**
* Altitude time constant factor for landing
*
* Set this parameter to less than 1.0 to make TECS react faster to altitude errors during
* landing than during normal flight (i.e. giving efficiency and low motor wear at
* high altitudes but control accuracy during landing). During landing, the TECS
* altitude time constant (FW_T_ALT_TC) is multiplied by this value.
*
* @unit
* @min 0.2
* @max 1.0
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
/*
* TECS parameters
*
*/
/**
* Maximum climb rate
*
* This is the best climb rate that the aircraft can achieve with
* the throttle set to THR_MAX and the airspeed set to the
* default value. For electric aircraft make sure this number can be
* achieved towards the end of flight when the battery voltage has reduced.
* The setting of this parameter can be checked by commanding a positive
* altitude change of 100m in loiter, RTL or guided mode. If the throttle
* required to climb is close to THR_MAX and the aircraft is maintaining
* airspeed, then this parameter is set correctly. If the airspeed starts
* to reduce, then the parameter is set to high, and if the throttle
* demand required to climb and maintain speed is noticeably less than
* FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
* FW_THR_MAX reduced.
*
* @unit m/s
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
/**
* Minimum descent rate
*
* This is the sink rate of the aircraft with the throttle
* set to THR_MIN and flown at the same airspeed as used
* to measure FW_T_CLMB_MAX.
*
* @unit m/s
* @min 1.0
* @max 5.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
/**
* Maximum descent rate
*
* This sets the maximum descent rate that the controller will use.
* If this value is too large, the aircraft can over-speed on descent.
* This should be set to a value that can be achieved without
* exceeding the lower pitch angle limit and without over-speeding
* the aircraft.
*
* @unit m/s
* @min 1.0
* @max 15.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
/**
* Throttle damping factor
*
* This is the damping gain for the throttle demand loop.
* Increase to add damping to correct for oscillations in speed and height.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f);
/**
* Integrator gain throttle
*
* This is the integrator gain on the throttle part of the control loop.
* Increasing this gain increases the speed at which speed
* and height offsets are trimmed out, but reduces damping and
* increases overshoot. Set this value to zero to completely
* disable all integrator action.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.3f);
/**
* Integrator gain pitch
*
* This is the integrator gain on the pitch part of the control loop.
* Increasing this gain increases the speed at which speed
* and height offsets are trimmed out, but reduces damping and
* increases overshoot. Set this value to zero to completely
* disable all integrator action.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
/**
* Maximum vertical acceleration
*
* This is the maximum vertical acceleration (in m/s/s)
* either up or down that the controller will use to correct speed
* or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
* allows for reasonably aggressive pitch changes if required to recover
* from under-speed conditions.
*
* @unit m/s^2
* @min 1.0
* @max 10.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
/**
* Airspeed measurement standard deviation for airspeed filter.
*
* This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.
*
* @unit m/s
* @min 0.01
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f);
/**
* Airspeed rate measurement standard deviation for airspeed filter.
*
* This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.
*
* @unit m/s^2
* @min 0.01
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.05f);
/**
* Process noise standard deviation for the airspeed rate in the airspeed filter.
*
* This is the process noise standard deviation in the airspeed filter filter defining the noise in the
* airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and
* the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the
* drawback for delays.
*
* @unit m/s^2
* @min 0.01
* @max 10.0
* @decimal 2
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
/**
* Roll -> Throttle feedforward
*
* Increasing this gain turn increases the amount of throttle that will
* be used to compensate for the additional drag created by turning.
* Ideally this should be set to approximately 10 x the extra sink rate
* in m/s created by a 45 degree bank turn. Increase this gain if
* the aircraft initially loses energy in turns and reduce if the
* aircraft initially gains energy in turns. Efficient high aspect-ratio
* aircraft (eg powered sailplanes) can use a lower value, whereas
* inefficient low aspect-ratio models (eg delta wings) can use a higher value.
*
* @min 0.0
* @max 20.0
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
/**
* Speed <--> Altitude priority
*
* This parameter adjusts the amount of weighting that the pitch control
* applies to speed vs height errors. Setting it to 0.0 will cause the
* pitch control to control height and ignore speed errors. This will
* normally improve height accuracy but give larger airspeed errors.
* Setting it to 2.0 will cause the pitch control loop to control speed
* and ignore height errors. This will normally reduce airspeed errors,
* but give larger height errors. The default value of 1.0 allows the pitch
* control to simultaneously control height and speed.
* Note to Glider Pilots - set this parameter to 2.0 (The glider will
* adjust its pitch angle to maintain airspeed, ignoring changes in height).
*
* @min 0.0
* @max 2.0
* @decimal 1
* @increment 1.0
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
/**
* Pitch damping factor
*
* This is the damping gain for the pitch demand loop. Increase to add
* damping to correct for oscillations in height. The default value of 0.0
* will work well provided the pitch to servo controller has been tuned
* properly.
*
* @min 0.0
* @max 2.0
* @decimal 2
* @increment 0.1
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
/**
* Altitude error time constant.
*
* @min 2.0
* @decimal 2
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
/**
* Height rate feed forward
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_HRATE_FF, 0.3f);
/**
* True airspeed error time constant.
*
* @min 2.0
* @decimal 2
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
/**
* Minimum groundspeed
*
* The controller will increase the commanded airspeed to maintain
* this minimum groundspeed to the next waypoint.
*
* @unit m/s
* @min 0.0
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
/**
* RC stick configuration fixed-wing.
*
* Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.
*
* @min 0
* @max 3
* @bit 0 Alternative stick configuration (height rate on throttle stick, airspeed on pitch stick)
* @bit 1 Enable airspeed setpoint via sticks in altitude and position flight mode
* @group FW Path Control
*/
PARAM_DEFINE_INT32(FW_POS_STK_CONF, 2);
/**
* Specific total energy rate first order filter time constant.
*
* This filter is applied to the specific total energy rate used for throttle damping.
*
* @min 0.0
* @max 2
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_STE_R_TC, 0.4f);
/**
* Specific total energy balance rate feedforward gain.
*
*
* @min 0.5
* @max 3
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f);
/**
* Default target climbrate.
*
*
* The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints.
* In manual modes this defines the maximum rate at which the altitude setpoint can be increased.
*
*
* @unit m/s
* @min 0.5
* @max 15
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
/**
* Default target sinkrate.
*
*
* The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints.
* In manual modes this defines the maximum rate at which the altitude setpoint can be decreased.
*
* @unit m/s
* @min 0.5
* @max 15
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
/**
* GPS failure loiter time
*
* The time in seconds the system should do open loop loiter and wait for GPS recovery
* before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
*
* @unit s
* @min 0
* @max 3600
* @group Mission
*/
PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
/**
* GPS failure fixed roll angle
*
* Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
*
* @unit deg
* @min 0.0
* @max 30.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
/**
* Vehicle base weight.
*
* This is the weight of the vehicle at which it's performance limits were derived. A zero or negative value
* disables trim throttle and minimum airspeed compensation based on weight.
*
* @unit kg
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(WEIGHT_BASE, -1.0f);
/**
* Vehicle gross weight.
*
* This is the actual weight of the vehicle at any time. This value will differ from WEIGHT_BASE in case weight was added
* or removed from the base weight. Examples are the addition of payloads or larger batteries. A zero or negative value
* disables trim throttle and minimum airspeed compensation based on weight.
*
* @unit kg
* @decimal 1
* @increment 0.1
* @group Mission
*/
PARAM_DEFINE_FLOAT(WEIGHT_GROSS, -1.0f);
/**
* The aircraft's wing span (length from tip to tip).
*
* This is used for limiting the roll setpoint near the ground. (if multiple wings, take the longest span)
*
* @unit m
* @min 0.1
* @decimal 1
* @increment 0.1
* @group FW Geometry
*/
PARAM_DEFINE_FLOAT(FW_WING_SPAN, 3.0);
/**
* Height (AGL) of the wings when the aircraft is on the ground.
*
* This is used to constrain a minimum altitude below which we keep wings level to avoid wing tip strike. It's safer
* to give a slight margin here (> 0m)
*
* @unit m
* @min 0.0
* @decimal 1
* @increment 1
* @group FW Geometry
*/
PARAM_DEFINE_FLOAT(FW_WING_HEIGHT, 0.5);
/**
* Landing flare time
*
* Multiplied by the descent rate to calculate a dynamic altitude at which
* to trigger the flare.
*
* NOTE: max(FW_LND_FLALT, FW_LND_FL_TIME * descent rate) is taken as the flare altitude
*
* @unit s
* @min 0.1
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_TIME, 1.0f);
/**
* Landing touchdown time (since flare start)
*
* This is the time after the start of flaring that we expect the vehicle to touch the runway.
* At this time, a 0.5s clamp down ramp will engage, constraining the pitch setpoint to RWTO_PSP.
* If enabled, ensure that RWTO_PSP is configured appropriately for full gear contact on ground roll.
*
* Set to -1.0 to disable touchdown clamping. E.g. it may not be desirable to clamp on belly landings.
*
* The touchdown time will be constrained to be greater than or equal to the flare time (FW_LND_FL_TIME).
*
* @unit s
* @min -1.0
* @max 5.0
* @decimal 1
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_TIME, -1.0f);
/**
* Landing flare sink rate
*
* TECS will attempt to control the aircraft to this sink rate via pitch angle (throttle killed during flare)
*
* @unit m/s
* @min 0.0
* @max 2
* @decimal 2
* @increment 0.1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_FL_SINK, 0.25f);
/**
* Maximum lateral position offset for the touchdown point
*
* @unit m
* @min 0.0
* @max 10.0
* @decimal 1
* @increment 1
* @group FW Auto Landing
*/
PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0);
/**
* Landing touchdown nudging option.
*
* Approach angle nudging: shifts the touchdown point laterally while keeping the approach entrance point constant
* Approach path nudging: shifts the touchdown point laterally along with the entire approach path
*
* This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the
* desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is
* relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle).
*
* @min 0
* @max 2
* @value 0 Disable nudging
* @value 1 Nudge approach angle
* @value 2 Nudge approach path
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_NUDGE, 2);
/**
* Bit mask to set the automatic landing abort conditions.
*
* Terrain estimation:
* bit 0: Abort if terrain is not found
* bit 1: Abort if terrain times out (after a first successful measurement)
*
* The last estimate is always used as ground, whether the last valid measurement or the land waypoint, depending on the
* selected abort criteria, until an abort condition is entered. If FW_LND_USETER == 0, these bits are ignored.
*
* TODO: Extend automatic abort conditions
* e.g. glide slope tracking error (horizontal and vertical)
*
* @min 0
* @max 3
* @bit 0 Abort if terrain is not found
* @bit 1 Abort if terrain times out (after a first successful measurement)
* @group FW Auto Landing
*/
PARAM_DEFINE_INT32(FW_LND_ABORT, 3);
/**
* Wind-based airspeed scaling factor
*
* Multiplying this factor with the current absolute wind estimate gives the airspeed offset
* added to the minimum airspeed setpoint limit. This helps to make the
* system more robust against disturbances (turbulence) in high wind.
* Only applies to AUTO flight mode.
*
* airspeed_min_adjusted = FW_AIRSPD_MIN + FW_WIND_ARSP_SC * wind.length()
*
* @min 0
* @decimal 2
* @increment 0.01
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_WIND_ARSP_SC, 0.f);
/**
* FW Launch detection
*
* Enables automatic launch detection based on measured acceleration. Use for hand- or catapult-launched vehicles.
* Only available for fixed-wing vehicles.
* Not compatible with runway takeoff.
*
* @boolean
* @group FW Launch detection
*/
PARAM_DEFINE_INT32(FW_LAUN_DETCN_ON, 0);
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