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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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96 lines
3.4 KiB
C
96 lines
3.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Maximal tilt angle in Stabilized or Altitude mode
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*
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* @unit deg
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* @min 1
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* @max 70
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* @decimal 0
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* @increment 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.f);
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/**
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* Max manual yaw rate for Stabilized, Altitude, Position mode
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*
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* @unit deg/s
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* @min 0
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* @max 400
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* @decimal 0
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* @increment 10
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.f);
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/**
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* Minimum collective thrust in Stabilized mode
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*
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* The value is mapped to the lowest throttle stick position in Stabilized mode.
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*
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* Too low collective thrust leads to loss of roll/pitch/yaw torque control authority.
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* Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).
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*
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* @unit norm
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* @min 0
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* @max 1
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* @decimal 2
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* @increment 0.01
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
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/**
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* Thrust curve mapping in Stabilized Mode
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*
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* This parameter defines how the throttle stick input is mapped to collective thrust
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* in Stabilized mode.
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*
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* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
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* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
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*
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* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
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* in case the hover thrust is very low and the default would lead to too much distortion
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* (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the
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* upper half of the stick range).
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*
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* Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
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*
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* @value 0 Rescale to hover thrust
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* @value 1 No Rescale
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);
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