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FW Rate Controller: relax param ranges 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-05-16 15:38:26 +02:00
parent 487b9ca7ef
commit fb1491de33
1 changed files with 27 additions and 36 deletions
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63
src/modules/fw_rate_control/fw_rate_control_params.c
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@ -34,17 +34,12 @@
/**
* @file fw_rate_control_params.c
*
* Parameters defined by the fixed-wing attitude control task
* Parameters defined by the fixed-wing rate control task
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/*
* Controller parameters, accessible via MAVLink
*
*/
/**
* Minimum Airspeed (CAS)
*
@ -58,7 +53,6 @@
*
* @unit m/s
* @min 0.5
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
@ -72,7 +66,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
*
* @unit m/s
* @min 0.5
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
@ -99,7 +92,6 @@ PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
*
* @unit m/s
* @min 0.5
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
@ -115,7 +107,6 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
*
* @unit m/s
* @min 0.5
* @max 40
* @decimal 1
* @increment 0.5
* @group FW TECS
@ -127,7 +118,7 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_STALL, 7.0f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -141,7 +132,7 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -156,7 +147,7 @@ PARAM_DEFINE_FLOAT(FW_PR_D, 0.f);
*
* @unit %/rad
* @min 0.0
* @max 0.5
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -182,7 +173,7 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -197,7 +188,7 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -212,9 +203,9 @@ PARAM_DEFINE_FLOAT(FW_RR_D, 0.00f);
*
* @unit %/rad
* @min 0.0
* @max 0.2
* @decimal 3
* @increment 0.005
* @max 10
* @decimal 2
* @increment 0.01
* @group FW Rate Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.1f);
@ -237,7 +228,7 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -252,7 +243,7 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Rate Control
@ -267,7 +258,7 @@ PARAM_DEFINE_FLOAT(FW_YR_D, 0.0f);
*
* @unit %/rad
* @min 0.0
* @max 50.0
* @max 10
* @decimal 1
* @increment 0.5
* @group FW Rate Control
@ -338,7 +329,7 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
* This is the rate the controller is trying to achieve if the user applies full roll
* stick input in acro mode.
*
* @min 45
* @min 10
* @max 720
* @unit deg
* @group FW Rate Control
@ -348,7 +339,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_X_MAX, 90);
/**
* Acro body pitch max rate setpoint.
*
* @min 45
* @min 10
* @max 720
* @unit deg
* @group FW Rate Control
@ -359,7 +350,7 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Y_MAX, 90);
* Acro body yaw max rate setpoint.
*
* @min 10
* @max 180
* @max 720
* @unit deg
* @group FW Rate Control
*/
@ -397,8 +388,8 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
@ -410,8 +401,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
@ -423,8 +414,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
@ -436,8 +427,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);
* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
@ -449,8 +440,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);
* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
@ -462,8 +453,8 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);
* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
*
* @group FW Rate Control
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/