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VTOL: improve readability of VT_FWD_THRUST_EN param 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-09-28 11:05:27 +02:00
parent 20457c5e2e
commit 97e3b76a2e
1 changed files with 14 additions and 12 deletions
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26
src/modules/vtol_att_control/standard_params.c
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@ -41,21 +41,23 @@
/**
* Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
* Enable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
*
* This technique can be used to avoid the plane having to pitch down in order to move forward.
* This prevents large, negative lift values being created when facing strong winds.
* This feature can be used to avoid the plane having to pitch down in order to move forward,
* and prevents large, negative lift values being created when facing strong winds.
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
* Only active if demaded down pitch is below VT_PITCH_MIN, and uses VT_FWD_THRUST_SC to get from
* demanded down pitch to fixed-wing actuation.
* Only active if demanded down pitch is below VT_PITCH_MIN.
* Use VT_FWD_THRUST_SC to tune it.
*
* @value 0 Disable FW forward actuation in hover.
* @value 1 Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
* @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
* @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
* @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
* @value 5 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).
* @value 6 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).
* Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.
*
* @value 0 Disabled
* @value 1 Enabled (except LANDING)
* @value 2 Enabled if distance to ground above MPC_LAND_ALT1
* @value 3 Enabled if distance to ground above MPC_LAND_ALT2
* @value 4 Enabled constantly
* @value 5 Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)
* @value 6 Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)
*
* @group VTOL Attitude Control
*/