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mc_pos_control: improve parameter metadata 

- Adapted descriptions to be more clear
- Adjusted some limits and decimals
This commit is contained in:
Matthias Grob 2023-06-19 22:15:27 +02:00
parent d00ad1b815
commit 54a351639c
10 changed files with 166 additions and 145 deletions
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24
src/modules/mc_pos_control/multicopter_altitude_mode_params.c
View File

@ -32,25 +32,25 @@
****************************************************************************/
/**
* Maximum vertical acceleration in velocity controlled modes upward
* Maximum upwards acceleration in climb rate controlled modes
*
* @unit m/s^2
* @min 2.0
* @max 15.0
* @decimal 1
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f);
/**
* Maximum vertical acceleration in velocity controlled modes down
* Maximum downwards acceleration in climb rate controlled modes
*
* @unit m/s^2
* @min 2.0
* @max 15.0
* @decimal 1
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
@ -58,18 +58,20 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
/**
* Manual yaw rate input filter time constant
*
* Not used in Stabilized mode
* Setting this parameter to 0 disables the filter
*
* @unit s
* @min 0.0
* @max 5.0
* @decimal 2
* @increment 0.2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);
/**
* Altitude control mode.
* Altitude reference mode
*
* Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
* flight due to sensor drift.
@ -93,9 +95,11 @@ PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*
* Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2
*
* @unit m/s
* @min 0.0
* @max 3.0
* @min 0
* @max 3
* @decimal 2
* @group Multicopter Position Control
*/
@ -104,9 +108,11 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);
/**
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
*
* Only used with MPC_ALT_MODE 1
*
* @unit m/s
* @min 0.0
* @max 3.0
* @min 0
* @max 3
* @decimal 2
* @group Multicopter Position Control
*/

46
src/modules/mc_pos_control/multicopter_autonomous_params.c
View File

@ -32,76 +32,72 @@
****************************************************************************/
/**
* Default horizontal velocity in mission
* Default horizontal velocity in autonomous modes
*
* Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
* e.g. in Missions, RTL, Goto if the waypoint does not specify differently
*
* @unit m/s
* @min 3.0
* @max 20.0
* @decimal 0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Automatic ascent velocity
* Ascent velocity in autonomous modes
*
* Ascent velocity in auto modes.
* For manual modes and offboard, see MPC_Z_VEL_MAX_UP
* For manually controlled modes and offboard see MPC_Z_VEL_MAX_UP
*
* @unit m/s
* @min 0.5
* @max 8.0
* @increment 0.1
* @decimal 1
* @increment 0.5
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
/**
* Automatic descent velocity
* Descent velocity in autonomous modes
*
* Descent velocity in auto modes.
* For manual modes and offboard, see MPC_Z_VEL_MAX_DN
*
* @unit m/s
* @min 0.5
* @max 4.0
* @increment 0.1
* @decimal 1
* @increment 0.5
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
/**
* Acceleration for auto and for manual
* Acceleration for autonomous and for manual modes
*
* Note: In manual, this parameter is only used in MPC_POS_MODE 4.
* When piloting manually, this parameter is only used in MPC_POS_MODE 4.
*
* @unit m/s^2
* @min 2.0
* @max 15.0
* @decimal 1
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
/**
* Jerk limit in auto mode
* Jerk limit in autonomous modes
*
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
* A lower value leads to smoother vehicle motions, but it also limits its
* agility.
* A lower value leads to smoother vehicle motions but also limited agility.
*
* @unit m/s^3
* @min 1.0
* @max 80.0
* @increment 1
* @decimal 1
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
@ -112,6 +108,7 @@ PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
* @min 0.1
* @max 1.0
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
@ -130,29 +127,28 @@ PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
* @min 0.1
* @max 10.0
* @decimal 1
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
/**
* Max yaw rate in auto mode
* Max yaw rate in autonomous modes
*
* Limit the rate of change of the yaw setpoint in autonomous mode
* to avoid large control output and mixer saturation.
* Limits the rate of change of the yaw setpoint to avoid large
* control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @decimal 0
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
/**
* Yaw mode.
*
* Specifies the heading in Auto.
* Heading behavior in autonomous modes
*
* @min 0
* @max 4

18
src/modules/mc_pos_control/multicopter_nudging_params.c
View File

@ -32,20 +32,20 @@
****************************************************************************/
/**
* Enable user assisted descent for autonomous land routine
* Enable nudging based on user input during autonomous land routine
*
* When enabled, descent speed will be:
* Using stick input the vehicle can be moved horizontally and yawed.
* The descend speed is amended:
* stick full up - 0
* stick centered - MPC_LAND_SPEED
* stick full down - 2 * MPC_LAND_SPEED
*
* Additionally, the vehicle can be yawed and moved laterally using the other sticks.
* Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
*
* @min 0
* @max 1
* @value 0 Fixed descent speed of MPC_LAND_SPEED
* @value 1 User assisted descent speed
* @value 0 Nudging disabled
* @value 1 Nudging enabled
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
@ -53,13 +53,13 @@ PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
/**
* User assisted landing radius
*
* When user assisted descent is enabled (see MPC_LAND_RC_HELP),
* this parameter controls the maximum position adjustment
* allowed from the original landing point.
* When nudging is enabled (see MPC_LAND_RC_HELP), this controls
* the maximum allowed horizontal displacement from the original landing point.
*
* @unit m
* @min 0
* @decimal 1
* @decimal 0
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, 1000.f);

48
src/modules/mc_pos_control/multicopter_position_control_gain_params.c
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@ -34,9 +34,12 @@
/**
* Proportional gain for vertical position error
*
* @min 0.0
* Defined as corrective velocity in m/s per m position error
*
* @min 0.1
* @max 1.5
* @decimal 2
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
@ -44,9 +47,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
/**
* Proportional gain for horizontal position error
*
* Defined as corrective velocity in m/s per m position error
*
* @min 0.0
* @max 2.0
* @decimal 2
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
@ -54,11 +60,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f);
/**
* Proportional gain for vertical velocity error
*
* defined as correction acceleration in m/s^2 per m/s velocity error
* Defined as corrective acceleration in m/s^2 per m/s velocity error
*
* @min 2.0
* @max 15.0
* @decimal 2
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
@ -66,11 +73,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f);
/**
* Proportional gain for horizontal velocity error
*
* defined as correction acceleration in m/s^2 per m/s velocity error
* Defined as corrective acceleration in m/s^2 per m/s velocity error
*
* @min 1.2
* @max 5.0
* @decimal 2
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
@ -78,13 +86,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f);
/**
* Integral gain for vertical velocity error
*
* defined as correction acceleration in m/s^2 per m velocity integral
*
* Non zero value allows hovering thrust estimation on stabilized or autonomous takeoff.
* Defined as corrective acceleration in m/s^2 per m velocity integral
*
* @min 0.2
* @max 3.0
* @decimal 3
* @decimal 1
* @increment 0.1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
@ -92,12 +99,13 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f);
/**
* Integral gain for horizontal velocity error
*
* defined as correction acceleration in m/s^2 per m velocity integral
* Non-zero value allows to eliminate steady state errors in the presence of disturbances like wind.
* Defined as correction acceleration in m/s^2 per m velocity integral
* Allows to eliminate steady state errors in disturbances like wind.
*
* @min 0.0
* @max 60.0
* @decimal 3
* @decimal 2
* @increment 0.02
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
@ -105,23 +113,25 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f);
/**
* Differential gain for vertical velocity error
*
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
* Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
*
* @min 0.0
* @max 2.0
* @decimal 3
* @decimal 2
* @increment 0.02
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
* Differential gain for horizontal velocity error
*
* defined as correction acceleration in m/s^2 per m/s^2 velocity derivative
* Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative
*
* @min 0.1
* @max 2.0
* @decimal 3
* @decimal 2
* @increment 0.02
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D_ACC, 0.2f);

35
src/modules/mc_pos_control/multicopter_position_control_limits_params.c
View File

@ -34,14 +34,14 @@
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode. If higher speeds
* are commanded in a mission they will be capped to this velocity.
* Absolute maximum for all velocity controlled modes.
* Any higher value is truncated.
*
* @unit m/s
* @min 0.0
* @max 20.0
* @decimal 0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
@ -49,38 +49,41 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
/**
* Maximum tilt angle in air
*
* Limits maximum tilt in AUTO and POSCTRL modes during flight.
* Absolute maximum for all velocity or acceleration controlled modes.
* Any higher value is truncated.
*
* @unit deg
* @min 20.0
* @max 89.0
* @decimal 1
* @decimal 0
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
/**
* Maximum tilt during landing
* Maximum tilt during inital takeoff ramp
*
* Limits maximum tilt angle on landing.
* Tighter tilt limit during takeoff to avoid tip over.
*
* @unit deg
* @min 10.0
* @min 5.0
* @max 89.0
* @decimal 1
* @decimal 0
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
/**
* Minimum collective thrust in auto thrust control
* Minimum collective thrust in climb rate controlled modes
*
* It's recommended to set it > 0 to avoid free fall with zero thrust.
* Note: Without airmode zero thrust leads to zero roll/pitch control authority. (see MC_AIRMODE)
* Too low thrust leads to loss of roll/pitch/yaw torque control authority.
* Airmode is used to keep torque authority even with zero thrust (see MC_AIRMODE).
*
* @unit norm
* @min 0.05
* @max 1.0
* @max 0.5
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
@ -88,15 +91,15 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f);
/**
* Maximum thrust in auto thrust control
* Maximum collective thrust in climb rate controlled modes
*
* Limit max allowed thrust
* Limit allowed thrust e.g. for indoor test of overpowered vehicle.
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @increment 0.05
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);

27
src/modules/mc_pos_control/multicopter_position_control_params.c
View File

@ -32,16 +32,12 @@
****************************************************************************/
/**
* Hover thrust
* Vertical thrust required to hover
*
* Vertical thrust required to hover.
* This value is mapped to center stick for manual throttle control.
* With this value set to the thrust required to hover, transition
* from manual to Altitude or Position mode while hovering will occur with the
* throttle stick near center, which is then interpreted as (near)
* zero demand for vertical speed.
*
* This parameter is also important for the landing detection to work correctly.
* Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).
* Used for initialization of the hover thrust estimator (see MPC_USE_HTE).
* The estimated hover thrust is used as base for zero vertical acceleration in altitude control.
* The hover thrust is important for land detection to work correctly.
*
* @unit norm
* @min 0.1
@ -53,10 +49,10 @@
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* Hover thrust source selector
* Hover thrust estimator
*
* Set false to use the fixed parameter MPC_THR_HOVER
* Set true to use the value computed by the hover thrust estimator
* Disable to use the fixed parameter MPC_THR_HOVER
* Enable to use the hover thrust estimator
*
* @boolean
* @group Multicopter Position Control
@ -66,7 +62,7 @@ PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
/**
* Horizontal thrust margin
*
* Margin that is kept for horizontal control when prioritizing vertical thrust.
* Margin that is kept for horizontal control when higher priority vertical thrust is saturated.
* To avoid completely starving horizontal control with high vertical error.
*
* @unit norm
@ -79,12 +75,13 @@ PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
PARAM_DEFINE_FLOAT(MPC_THR_XY_MARG, 0.3f);
/**
* Low pass filter cut freq. for numerical velocity derivative
* Numerical velocity derivative low pass cutoff frequency
*
* @unit Hz
* @min 0.0
* @max 10
* @decimal 2
* @decimal 1
* @increment 0.5
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);

68
src/modules/mc_pos_control/multicopter_position_mode_params.c
View File

@ -32,18 +32,19 @@
****************************************************************************/
/**
* Manual-Position control sub-mode
* Position/Altitude mode variant
*
* The supported sub-modes are:
* 0 Simple position control where sticks map directly to velocity setpoints
* without smoothing. Useful for velocity control tuning.
* 3 Smooth position control with maximum acceleration and jerk limits based on
* 0 Sticks directly map to velocity setpoints without smoothing.
* Also applies to vertical direction and Altitude mode.
* Useful for velocity control tuning.
* 3 Sticks map to velocity but with maximum acceleration and jerk limits based on
* jerk optimized trajectory generator (different algorithm than 1).
* 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
* 4 Sticks map to acceleration and there's a virtual brake drag
*
* @value 0 Simple position control
* @value 3 Smooth position control (Jerk optimized)
* @value 4 Acceleration based input
* @value 0 Direct velocity
* @value 3 Smoothed velocity
* @value 4 Acceleration based
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
@ -51,8 +52,7 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
/**
* Maximum horizontal velocity setpoint in Position mode
*
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
* the setpoint will be capped to MPC_XY_VEL_MAX
* Must be smaller than MPC_XY_VEL_MAX.
*
* The maximum sideways and backward speed can be set differently
* using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively.
@ -61,7 +61,7 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 4);
* @min 3.0
* @max 20.0
* @increment 1
* @decimal 2
* @decimal 0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
@ -75,8 +75,8 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
* @unit m/s
* @min -1.0
* @max 20.0
* @increment 0.1
* @decimal 2
* @increment 1
* @decimal 0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
@ -90,17 +90,16 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f);
* @unit m/s
* @min -1.0
* @max 20.0
* @increment 0.1
* @decimal 2
* @increment 1
* @decimal 0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
/**
* Maximum ascent velocity
* Maximum ascent velocity in manually piloted climb rate controlled modes and offboard
*
* Ascent velocity in manual modes and offboard.
* For auto modes, see MPC_Z_V_AUTO_UP
* For autonomous modes see MPC_Z_V_AUTO_UP
*
* @unit m/s
* @min 0.5
@ -112,10 +111,9 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
/**
* Maximum descent velocity
* Maximum descent velocity in manually piloted climb rate controlled modes and offboard
*
* Descent velocity in manual modes and offboard.
* For auto modes, see MPC_Z_V_AUTO_DN
* For autonomous modes, see MPC_Z_V_AUTO_DN
*
* @unit m/s
* @min 0.5
@ -127,12 +125,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
/**
* Maximum horizontal acceleration for auto mode and for manual mode
* Maximum horizontal acceleration
*
* MPC_POS_MODE
* 1 just deceleration
* 3 acceleration and deceleration
* 4 just acceleration
* 4 use MPC_ACC_HOR instead
*
* @unit m/s^2
* @min 2.0
@ -144,31 +142,34 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
/**
* Maximum jerk limit
* Maximum horizontal and vertical jerk in Position/Altitude mode
*
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
* A lower value leads to smoother vehicle motions, but it also limits its
* agility (how fast it can change directions or break).
* A lower value leads to smoother motions but limits agility
* (how fast it can change directions or break).
*
* Setting this to the maximum value essentially disables the limit.
*
* Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4.
* Only used with smooth MPC_POS_MODE 3 and 4.
*
* @unit m/s^3
* @min 0.5
* @max 500.0
* @decimal 0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
/**
* Deadzone of sticks where position hold is enabled
* Deadzone for sticks in manual piloted modes
*
* Does not apply to manual throttle and direct attitude piloting by stick.
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
@ -179,12 +180,13 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* 0 Purely linear input curve (default)
* 0 Purely linear input curve
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
@ -195,12 +197,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.6f);
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* 0 Purely linear input curve (default)
* 0 Purely linear input curve
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
@ -211,12 +214,13 @@ PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.6f);
* The higher the value the less sensitivity the stick has around zero
* while still reaching the maximum value with full stick deflection.
*
* 0 Purely linear input curve (default)
* 0 Purely linear input curve
* 1 Purely cubic input curve
*
* @min 0
* @max 1
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.6f);

4
src/modules/mc_pos_control/multicopter_responsiveness_params.c
View File

@ -62,7 +62,7 @@ PARAM_DEFINE_FLOAT(SYS_VEHICLE_RESP, -0.4f);
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.f);
/**
* Overall Vertical Velocity Limit
@ -77,4 +77,4 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_ALL, -10.0f);
* @increment 0.5
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_ALL, -3.f);

36
src/modules/mc_pos_control/multicopter_stabilized_mode_params.c
View File

@ -32,32 +32,36 @@
****************************************************************************/
/**
* Maximal tilt angle in manual or altitude mode
* Maximal tilt angle in Stabilized or Altitude mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @min 0
* @max 90
* @decimal 0
* @increment 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.f);
/**
* Max manual yaw rate
* Max manual yaw rate for Stabilized, Altitude, Position mode
*
* @unit deg/s
* @min 0.0
* @min 0
* @max 400
* @decimal 1
* @decimal 0
* @increment 10
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.f);
/**
* Minimum manual thrust
* Minimum collective thrust in Stabilized mode
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
* With MC_AIRMODE set to 1, this can safely be set to 0.
* The value is mapped to the lowest throttle stick position in Stabilized mode.
*
* Too low collective thrust leads to loss of roll/pitch/yaw torque control authority.
* Airmode is used to keep torque authority with zero thrust (see MC_AIRMODE).
*
* @unit norm
* @min 0.0
@ -69,17 +73,17 @@ PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
/**
* Thrust curve in Manual Mode
* Thrust curve mapping in Stabilized Mode
*
* This parameter defines how the throttle stick input is mapped to commanded thrust
* in Manual/Stabilized flight mode.
* This parameter defines how the throttle stick input is mapped to collective thrust
* in Stabilized mode.
*
* In case the default is used ('Rescale to hover thrust'), the stick input is linearly
* rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
*
* Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
* in case the hover thrust is very low and the default would lead to too much distortion
* (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
* (e.g. if hover thrust is set to 20%, then 80% of the upper thrust range is squeezed into the
* upper half of the stick range).
*
* Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.

5
src/modules/mc_pos_control/multicopter_takeoff_land_params.c
View File

@ -32,12 +32,13 @@
****************************************************************************/
/**
* Position control smooth takeoff ramp time constant
* Smooth takeoff ramp time constant
*
* Increasing this value will make automatic and manual takeoff slower.
* Increasing this value will make climb rate controlled takeoff slower.
* If it's too slow the drone might scratch the ground and tip over.
* A time constant of 0 disables the ramp
*
* @unit s
* @min 0
* @max 5
* @group Multicopter Position Control