From badf8fabdd89fc0edb6550c344f72b2438b8ced1 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 19 Jan 2024 12:51:34 +1100 Subject: [PATCH] Tools: convert param files for pitch limits --- Tools/Frame_params/EFlight_Convergence.param | 2 +- Tools/Frame_params/Parrot_Disco/Parrot_Disco.param | 4 ++-- Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param | 2 +- Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm | 4 ++-- Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param | 2 +- Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param | 2 +- Tools/Frame_params/QuadPlanes/MFE_StriverMini.param | 4 ++-- Tools/Frame_params/QuadPlanes/Mugin_EV350.param | 4 ++-- Tools/Frame_params/SkyWalkerX8.param | 4 ++-- Tools/Frame_params/SkyWalkerX8_ReverseThrust.param | 4 ++-- Tools/autotest/default_params/firefly.parm | 4 ++-- Tools/autotest/default_params/plane-jet.parm | 4 ++-- Tools/autotest/default_params/plane-jsbsim.parm | 4 ++-- Tools/autotest/default_params/plane-tailsitter.parm | 4 ++-- Tools/autotest/default_params/quadplane-cl84.parm | 4 ++-- Tools/autotest/default_params/quadplane-tilthvec.parm | 4 ++-- Tools/autotest/default_params/quadplane-tilttri.parm | 4 ++-- Tools/autotest/default_params/quadplane-tilttrivec.parm | 4 ++-- Tools/autotest/default_params/quadplane-tri.parm | 4 ++-- Tools/autotest/default_params/quadplane.parm | 4 ++-- Tools/autotest/default_params/vee-gull 005.param | 4 ++-- Tools/autotest/models/plane.parm | 4 ++-- 22 files changed, 40 insertions(+), 40 deletions(-) diff --git a/Tools/Frame_params/EFlight_Convergence.param b/Tools/Frame_params/EFlight_Convergence.param index a8ab7be9a0..c3dc7fcca4 100644 --- a/Tools/Frame_params/EFlight_Convergence.param +++ b/Tools/Frame_params/EFlight_Convergence.param @@ -6,7 +6,7 @@ BATT_MONITOR,4 BATT_VOLT_MULT,12 BRD_SAFETY_DEFLT,0 FORMAT_VERSION,13 -LIM_PITCH_MAX,3500 +PITCH_LIM_MAX_DEG,35.00 MIXING_GAIN,0.8 PTCH_RATE_D,0.000000 PTCH_RATE_FF,0.455000 diff --git a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param index a6adb22618..0a331aa9c3 100644 --- a/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param +++ b/Tools/Frame_params/Parrot_Disco/Parrot_Disco.param @@ -24,8 +24,8 @@ INS_ACCEL_FILTER 10 INS_GYRO_FILTER 5 LAND_FLARE_ALT 3 LAND_FLARE_SEC 2 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -2500 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -25.00 LIM_ROLL_CD 5500 NAVL1_PERIOD 16 PTCH_RATE_D 0.000000 diff --git a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param index d8edcc34a9..9a20856c55 100644 --- a/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param +++ b/Tools/Frame_params/QuadPlanes/Aerofox_AYK320.param @@ -17,7 +17,7 @@ INS_HNTCH_MODE 1.000000 INS_HNTCH_REF 0.337000 # fixed wing limits -LIM_PITCH_MIN -2000 +PITCH_LIM_MIN_DEG -20.00 LIM_ROLL_CD 4000 LEVEL_ROLL_LIMIT 12 diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm index 04a094a7b6..713be45248 100644 --- a/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm +++ b/Tools/Frame_params/QuadPlanes/Foxtech_Altair370.parm @@ -12,8 +12,8 @@ AIRSPEED_MIN 22 AIRSPEED_CRUISE 27.00 # fixed wing limits -LIM_PITCH_MAX 1500 -LIM_PITCH_MIN -1500 +PITCH_LIM_MAX_DEG 15.00 +PITCH_LIM_MIN_DEG -15.00 LIM_ROLL_CD 2500 # setup elevons as 75% elevator and 25% aileron diff --git a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param index 4968c7b71e..1eaaa60646 100644 --- a/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param +++ b/Tools/Frame_params/QuadPlanes/Foxtech_GreatShark.param @@ -19,7 +19,7 @@ INS_HNTCH_MODE 1.000000 INS_HNTCH_REF 0.337000 # fixed wing limits -LIM_PITCH_MIN -2000 +PITCH_LIM_MIN_DEG -20.00 LIM_ROLL_CD 4000 LEVEL_ROLL_LIMIT 12 diff --git a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param index c4f846c680..c143d73f4d 100644 --- a/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param +++ b/Tools/Frame_params/QuadPlanes/MFD_Crosswind_VTOL.param @@ -9,7 +9,7 @@ AIRSPEED_CRUISE 20.00 TRIM_THROTTLE 52 # fixed wing limits -LIM_PITCH_MAX 2200 +PITCH_LIM_MAX_DEG 22.00 LIM_ROLL_CD 3500 NAVL1_PERIOD 24 RTL_ALTITUDE 90.00 diff --git a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param index 25fc0f49e2..85fa1469dc 100644 --- a/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param +++ b/Tools/Frame_params/QuadPlanes/MFE_StriverMini.param @@ -26,8 +26,8 @@ AIRSPEED_MAX 30 AIRSPEED_MIN 15 # limits -LIM_PITCH_MAX 2000 -LIM_PITCH_MIN -2000 +PITCH_LIM_MAX_DEG 20.00 +PITCH_LIM_MIN_DEG -20.00 LIM_ROLL_CD 5500 # pitch tuning diff --git a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param index 52cf020c7b..c3d8272a9e 100644 --- a/Tools/Frame_params/QuadPlanes/Mugin_EV350.param +++ b/Tools/Frame_params/QuadPlanes/Mugin_EV350.param @@ -3,8 +3,8 @@ # https://www.muginuav.com/product/mugin-ev350-carbon-fiber-full-electric-vtol-uav-platform/ RTL_ALTITUDE 80.00 -LIM_PITCH_MAX 2000 -LIM_PITCH_MIN -2000 +PITCH_LIM_MAX_DEG 20.00 +PITCH_LIM_MIN_DEG -20.00 LIM_ROLL_CD 4000 NAVL1_PERIOD 17 PTCH2SRV_TCONST 0.75 diff --git a/Tools/Frame_params/SkyWalkerX8.param b/Tools/Frame_params/SkyWalkerX8.param index 1a842df8ef..bc9b674e26 100644 --- a/Tools/Frame_params/SkyWalkerX8.param +++ b/Tools/Frame_params/SkyWalkerX8.param @@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2 LAND_THEN_NEUTRL,1 LAND_THR_SLEW,70 LEVEL_ROLL_LIMIT,15 -LIM_PITCH_MAX,1500 -LIM_PITCH_MIN,-2500 +PITCH_LIM_MAX_DEG,15.00 +PITCH_LIM_MIN_DEG,-25.00 LIM_ROLL_CD,3500 MIN_GNDSPD_CM,600 MIXING_GAIN,0.5 diff --git a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param index 0845a53f96..6630a080bf 100644 --- a/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param +++ b/Tools/Frame_params/SkyWalkerX8_ReverseThrust.param @@ -27,8 +27,8 @@ LAND_SLOPE_RCALC,2 LAND_THEN_NEUTRL,1 LAND_THR_SLEW,70 LEVEL_ROLL_LIMIT,15 -LIM_PITCH_MAX,1500 -LIM_PITCH_MIN,-2500 +PITCH_LIM_MAX_DEG,15.00 +PITCH_LIM_MIN_DEG,-25.00 LIM_ROLL_CD,3500 MIN_GNDSPD_CM,600 MIXING_GAIN,0.5 diff --git a/Tools/autotest/default_params/firefly.parm b/Tools/autotest/default_params/firefly.parm index b36262d43c..d183ff08dc 100644 --- a/Tools/autotest/default_params/firefly.parm +++ b/Tools/autotest/default_params/firefly.parm @@ -45,8 +45,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 8 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/plane-jet.parm b/Tools/autotest/default_params/plane-jet.parm index 14a97b4a08..1931911d7e 100644 --- a/Tools/autotest/default_params/plane-jet.parm +++ b/Tools/autotest/default_params/plane-jet.parm @@ -3,8 +3,8 @@ AIRSPEED_MAX 80.0000 AIRSPEED_MIN 25.0000 FBWB_CLIMB_RATE 5.0000 LAND_FLARE_SEC 2.0000 -LIM_PITCH_MAX 2000.0000 -LIM_PITCH_MIN -2500.0000 +PITCH_LIM_MAX_DEG 20.00 +PITCH_LIM_MIN_DEG -25.00 LIM_ROLL_CD 7000.0000 NAVL1_PERIOD 17.0000 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/plane-jsbsim.parm b/Tools/autotest/default_params/plane-jsbsim.parm index c50a589604..46485ef733 100644 --- a/Tools/autotest/default_params/plane-jsbsim.parm +++ b/Tools/autotest/default_params/plane-jsbsim.parm @@ -4,8 +4,8 @@ LOG_BITMASK 65535 AIRSPEED_CRUISE 22.00 TRIM_PITCH_DEG 0.00 TRIM_THROTTLE 50 -LIM_PITCH_MIN -2000 -LIM_PITCH_MAX 2500 +PITCH_LIM_MIN_DEG -20.00 +PITCH_LIM_MAX_DEG 25.00 LIM_ROLL_CD 6500 LAND_DISARMDELAY 3 LAND_PITCH_CD 100 diff --git a/Tools/autotest/default_params/plane-tailsitter.parm b/Tools/autotest/default_params/plane-tailsitter.parm index 9589c5d917..0711fc831a 100644 --- a/Tools/autotest/default_params/plane-tailsitter.parm +++ b/Tools/autotest/default_params/plane-tailsitter.parm @@ -1,8 +1,8 @@ BATT_MONITOR 4 AIRSPEED_CRUISE 22.00 TRIM_THROTTLE 50 -LIM_PITCH_MIN -2000 -LIM_PITCH_MAX 2500 +PITCH_LIM_MIN_DEG -20.00 +PITCH_LIM_MAX_DEG 25.00 LIM_ROLL_CD 6500 ARSPD_USE 1 AIRSPEED_MAX 30 diff --git a/Tools/autotest/default_params/quadplane-cl84.parm b/Tools/autotest/default_params/quadplane-cl84.parm index edb0170f5c..a777ff3198 100644 --- a/Tools/autotest/default_params/quadplane-cl84.parm +++ b/Tools/autotest/default_params/quadplane-cl84.parm @@ -34,8 +34,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/quadplane-tilthvec.parm b/Tools/autotest/default_params/quadplane-tilthvec.parm index 336f5209c5..2e1cfe5be3 100644 --- a/Tools/autotest/default_params/quadplane-tilthvec.parm +++ b/Tools/autotest/default_params/quadplane-tilthvec.parm @@ -1,5 +1,5 @@ -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 Q_ENABLE 1 Q_FRAME_CLASS 1 Q_FRAME_TYPE 3 diff --git a/Tools/autotest/default_params/quadplane-tilttri.parm b/Tools/autotest/default_params/quadplane-tilttri.parm index eca6c0570a..65824efa54 100644 --- a/Tools/autotest/default_params/quadplane-tilttri.parm +++ b/Tools/autotest/default_params/quadplane-tilttri.parm @@ -37,8 +37,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/quadplane-tilttrivec.parm b/Tools/autotest/default_params/quadplane-tilttrivec.parm index 7bb3958bb9..4ff967e70d 100644 --- a/Tools/autotest/default_params/quadplane-tilttrivec.parm +++ b/Tools/autotest/default_params/quadplane-tilttrivec.parm @@ -37,8 +37,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/quadplane-tri.parm b/Tools/autotest/default_params/quadplane-tri.parm index 238ca6389a..d09618bcbc 100644 --- a/Tools/autotest/default_params/quadplane-tri.parm +++ b/Tools/autotest/default_params/quadplane-tri.parm @@ -37,8 +37,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/quadplane.parm b/Tools/autotest/default_params/quadplane.parm index 7cfe607370..9b8f1498db 100644 --- a/Tools/autotest/default_params/quadplane.parm +++ b/Tools/autotest/default_params/quadplane.parm @@ -35,8 +35,8 @@ INS_ACCSCAL_Y 1.001000 INS_ACCSCAL_Z 1.001000 INS_GYR_CAL 0 KFF_RDDRMIX 0.500000 -LIM_PITCH_MAX 3000 -LIM_PITCH_MIN -3000 +PITCH_LIM_MAX_DEG 30.00 +PITCH_LIM_MIN_DEG -30.00 LIM_ROLL_CD 6500 NAVL1_PERIOD 14 PTCH_RATE_D 0.000000 diff --git a/Tools/autotest/default_params/vee-gull 005.param b/Tools/autotest/default_params/vee-gull 005.param index 37aff478b7..8b9c8ea78a 100644 --- a/Tools/autotest/default_params/vee-gull 005.param +++ b/Tools/autotest/default_params/vee-gull 005.param @@ -336,8 +336,8 @@ LAND_THEN_NEUTRL,0 LAND_THR_SLEW,0 LAND_TYPE,0 LEVEL_ROLL_LIMIT,5 -LIM_PITCH_MAX,2000 -LIM_PITCH_MIN,-2500 +PITCH_LIM_MAX_DEG,20.00 +PITCH_LIM_MIN_DEG,-25.00 LIM_ROLL_CD,4500 LOG_BACKEND_TYPE,1 LOG_BITMASK,65535 diff --git a/Tools/autotest/models/plane.parm b/Tools/autotest/models/plane.parm index ae0916c9ae..0600c55d8f 100644 --- a/Tools/autotest/models/plane.parm +++ b/Tools/autotest/models/plane.parm @@ -4,8 +4,8 @@ LOG_BITMASK 65535 AIRSPEED_CRUISE 22.00 TRIM_PITCH_DEG 0.00 TRIM_THROTTLE 50 -LIM_PITCH_MIN -2000 -LIM_PITCH_MAX 2500 +PITCH_LIM_MIN_DEG -20.00 +PITCH_LIM_MAX_DEG 25.00 LIM_ROLL_CD 6500 LAND_PITCH_CD 100 LAND_FLARE_SEC 3