PX4-Autopilot/src/modules/gnd_att_control/gnd_att_control_params.c

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/**
 * @file gnd_att_control_params.c
 *
 * Parameters defined by the attitude control task for ground rovers
 *
 * This is a modification of the fixed wing params and it is designed for ground rovers.
 * It has been developed starting from the fw  module, simplified and improved with dedicated items.
 *
 * All the ackowledgments and credits for the fw wing app are reported in those files.
 *
 * @author Marco Zorzi <mzorzi@student.ethz.ch>
 */

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

/**
 * Attitude Wheel Time Constant
 *
 * This defines the latency between a steering 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(GND_WR_TC, 0.4f);

/**
 * 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 GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_WR_P, 1.0f);

/**
 * 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 0.00
 * @max 0.5
 * @decimal 3
 * @increment 0.005
 * @group GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_WR_I, 0.00f);

/**
 * Wheel steering rate integrator gain
 *
 *
 * @unit %/rad
 * @min 0.00
 * @max 30
 * @decimal 3
 * @increment 0.005
 * @group GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_WR_D, 0.00f);

/**
 * 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 GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_WR_IMAX, 0.0f);

/**
 * Maximum wheel steering rate
 *
 * This limits the maximum wheel steering rate the controller will output (in degrees per
 * second). Setting a value of zero disables the limit.
 *
 * @unit deg/s
 * @min 0.0
 * @max 90.0
 * @decimal 1
 * @increment 0.5
 * @group GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_W_RMAX, 90.0f);

/**
 * 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 GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_WR_FF, 0.0f);

/**
 * 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 GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_MAN_Y_SC, 1.0f);

/**
 * Groundspeed speed trim
 *
 * This allows to scale the turning radius depending on the speed.
 *
 * @unit norm
 * @min 0.0
 * @decimal 2
 * @increment 0.1
 * @group GND Attitude Control
 */
PARAM_DEFINE_FLOAT(GND_GSPD_SP_TRIM, 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 GND Attitude Control
 */
PARAM_DEFINE_INT32(GND_BAT_SCALE_EN, 0);