forked from Archive/PX4-Autopilot
fw_att_control_params.c param metadata
This commit is contained in:
Daniel Agar
parent
a1a1a515db
commit
b471d94069
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@ -57,6 +57,8 @@
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* @unit s
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* @min 0.4
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
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@ -73,6 +75,8 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
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* @unit s
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* @min 0.2
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
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@ -86,6 +90,8 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
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* @unit %/rad/s
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* @min 0.005
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* @max 1.0
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
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@ -99,6 +105,8 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
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* @unit %/rad
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* @min 0.005
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* @max 0.5
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
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@ -112,6 +120,8 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
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* @unit deg/s
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
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@ -125,6 +135,8 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
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* @unit deg/s
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
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@ -135,9 +147,10 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
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* The portion of the integrator part in the control surface deflection is
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* limited to this value
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*
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* @unit %
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
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@ -151,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
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* @unit %/rad/s
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* @min 0.005
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* @max 1.0
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
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@ -164,6 +179,8 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
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* @unit %/rad
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* @min 0.005
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* @max 0.2
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
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@ -173,9 +190,10 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
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*
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* The portion of the integrator part in the control surface deflection is limited to this value.
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*
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* @unit %
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
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@ -189,6 +207,8 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
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* @unit deg/s
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
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@ -202,6 +222,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
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* @unit %/rad/s
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* @min 0.005
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* @max 1.0
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
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@ -215,6 +237,8 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
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* @unit %/rad
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* @min 0.0
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* @max 50.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
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@ -225,9 +249,10 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
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* The portion of the integrator part in the control surface deflection is
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* limited to this value
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*
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* @unit %
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
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@ -241,6 +266,8 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
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* @unit deg/s
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
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@ -254,6 +281,8 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
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* @unit %/rad/s
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* @min 0.005
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* @max 1.0
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
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@ -265,8 +294,10 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
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* state error. It trims any constant error.
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*
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* @unit %/rad
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* @min 0.0
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* @max 50.0
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* @min 0.005
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* @max 0.5
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* @decimal 3
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* @increment 0.005
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
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@ -277,9 +308,10 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
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* The portion of the integrator part in the control surface deflection is
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* limited to this value
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*
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* @unit %
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
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@ -293,6 +325,8 @@ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
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* @unit deg/s
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
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@ -307,6 +341,8 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
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@ -319,6 +355,8 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
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@ -331,6 +369,8 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
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@ -343,6 +383,8 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
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* @unit %/rad/s
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* @min 0.0
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* @max 10.0
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* @decimal 2
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* @increment 0.05
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
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@ -354,6 +396,10 @@ PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
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* turn. Set to a very high value to disable.
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*
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* @unit m/s
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* @min 0.0
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* @max 1000.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
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@ -373,49 +419,6 @@ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
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*/
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PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
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/* Airspeed parameters:
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* The following parameters about airspeed are used by the attitude and the
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* position controller.
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* */
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/**
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* Minimum Airspeed
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*
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* If the airspeed falls below this value, the TECS controller will try to
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* increase airspeed more aggressively.
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*
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* @unit m/s
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* @min 0.0
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* @max 40
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
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/**
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* Trim Airspeed
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*
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* The TECS controller tries to fly at this airspeed.
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*
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* @unit m/s
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* @min 0.0
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* @max 40
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
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/**
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* Maximum Airspeed
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*
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* If the airspeed is above this value, the TECS controller will try to decrease
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* airspeed more aggressively.
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*
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* @unit m/s
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* @min 0.0
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* @max 40
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
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/**
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* Roll Setpoint Offset
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*
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@ -426,6 +429,8 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
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* @unit deg
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* @min -90.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
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@ -440,6 +445,8 @@ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
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* @unit deg
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* @min -90.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
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@ -452,6 +459,8 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
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@ -464,6 +473,8 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
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* @unit deg
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* @min 0.0
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* @max 90.0
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* @decimal 1
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* @increment 0.5
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
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@ -471,8 +482,11 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
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/**
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* Scale factor for flaps
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
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@ -480,8 +494,11 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
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/**
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* Scale factor for flaperons
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*
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* @unit norm
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.01
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* @group FW Attitude Control
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*/
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PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);
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