Plane: most plane centi parameters to deg or m or m/s

ArduPlane/AP_Arming.cpp

@@ -76,23 +76,23 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         ret = false;
     }
 
-    if (plane.aparm.roll_limit_cd < 300) {
-        check_failed(display_failure, "LIM_ROLL_CD too small (%u)", (unsigned)plane.aparm.roll_limit_cd);
+    if (plane.aparm.roll_limit < 3) {
+        check_failed(display_failure, "ROLL_LIMIT_DEG too small (%.1f)", plane.aparm.roll_limit.get());
         ret = false;
     }
 
-    if (plane.aparm.pitch_limit_max_cd < 300) {
-        check_failed(display_failure, "LIM_PITCH_MAX too small (%u)", (unsigned)plane.aparm.pitch_limit_max_cd);
+    if (plane.aparm.pitch_limit_max < 3) {
+        check_failed(display_failure, "PTCH_LIM_MAX_DEG too small (%.1f)", plane.aparm.pitch_limit_max.get());
         ret = false;
     }
 
-    if (plane.aparm.pitch_limit_min_cd > -300) {
-        check_failed(display_failure, "LIM_PITCH_MIN too large (%u)", (unsigned)plane.aparm.pitch_limit_min_cd);
+    if (plane.aparm.pitch_limit_min > -3) {
+        check_failed(display_failure, "PTCH_LIM_MIN_DEG too large (%.1f)", plane.aparm.pitch_limit_min.get());
         ret = false;
     }
 
     if (plane.aparm.airspeed_min < MIN_AIRSPEED_MIN) {
-        check_failed(display_failure, "ARSPD_FBW_MIN too low (%i < %i)", plane.aparm.airspeed_min.get(), MIN_AIRSPEED_MIN);
+        check_failed(display_failure, "AIRSPEED_MIN too low (%i < %i)", plane.aparm.airspeed_min.get(), MIN_AIRSPEED_MIN);
         ret = false;
     }
 
@@ -454,7 +454,7 @@ bool AP_Arming_Plane::mission_checks(bool report)
                 prev_cmd.id == MAV_CMD_NAV_WAYPOINT) {
                 const float dist = cmd.content.location.get_distance(prev_cmd.content.location);
                 const float tecs_land_speed = plane.TECS_controller.get_land_airspeed();
-                const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise_cm*0.01;
+                const float landing_speed = is_positive(tecs_land_speed)?tecs_land_speed:plane.aparm.airspeed_cruise;
                 const float min_dist = 0.75 * plane.quadplane.stopping_distance(sq(landing_speed));
                 if (dist < min_dist) {
                     ret = false;

ArduPlane/ArduPlane.cpp

@@ -172,8 +172,8 @@ void Plane::ahrs_update()
 #endif
 
     // calculate a scaled roll limit based on current pitch
-    roll_limit_cd = aparm.roll_limit_cd;
-    pitch_limit_min_cd = aparm.pitch_limit_min_cd;
+    roll_limit_cd = aparm.roll_limit*100;
+    pitch_limit_min = aparm.pitch_limit_min;
 
     bool rotate_limits = true;
 #if HAL_QUADPLANE_ENABLED
@@ -183,7 +183,7 @@ void Plane::ahrs_update()
 #endif
     if (rotate_limits) {
         roll_limit_cd *= ahrs.cos_pitch();
-        pitch_limit_min_cd *= fabsf(ahrs.cos_roll());
+        pitch_limit_min *= fabsf(ahrs.cos_roll());
     }
 
     // updated the summed gyro used for ground steering and
@@ -418,8 +418,8 @@ void Plane::airspeed_ratio_update(void)
         return;
     }
     if (labs(ahrs.roll_sensor) > roll_limit_cd ||
-        ahrs.pitch_sensor > aparm.pitch_limit_max_cd ||
-        ahrs.pitch_sensor < pitch_limit_min_cd) {
+        ahrs.pitch_sensor > aparm.pitch_limit_max*100 ||
+        ahrs.pitch_sensor < pitch_limit_min*100) {
         // don't calibrate when going beyond normal flight envelope
         return;
     }
@@ -917,7 +917,7 @@ bool Plane::is_taking_off() const
     return control_mode->is_taking_off();
 }
 
-// correct AHRS pitch for TRIM_PITCH_CD in non-VTOL modes, and return VTOL view in VTOL
+// correct AHRS pitch for PTCH_TRIM_DEG in non-VTOL modes, and return VTOL view in VTOL
 void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {
 #if HAL_QUADPLANE_ENABLED
@@ -929,8 +929,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 #endif
     pitch = ahrs.get_pitch();
     roll = ahrs.get_roll();
-    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
-        pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
+    if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH))) {  // correct for PTCH_TRIM_DEG
+        pitch -= g.pitch_trim * DEG_TO_RAD;
     }
 }
 

ArduPlane/Attitude.cpp

@@ -202,14 +202,14 @@ float Plane::stabilize_pitch_get_pitch_out()
         return pitch_out;
     }
 #endif
-    // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD if flight option FORCE_FLARE_ATTITUDE is set
+    // if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_DEG if flight option FORCE_FLARE_ATTITUDE is set
 #if HAL_QUADPLANE_ENABLED
     const bool quadplane_in_transition = quadplane.in_transition();
 #else
     const bool quadplane_in_transition = false;
 #endif
 
-    int32_t demanded_pitch = nav_pitch_cd + g.pitch_trim_cd + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
+    int32_t demanded_pitch = nav_pitch_cd + int32_t(g.pitch_trim * 100.0) + SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) * g.kff_throttle_to_pitch;
     bool disable_integrator = false;
     if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
         disable_integrator = true;
@@ -310,11 +310,11 @@ void Plane::stabilize_stick_mixing_fbw()
         pitch_input = -pitch_input;
     }
     if (pitch_input > 0) {
-        nav_pitch_cd += pitch_input * aparm.pitch_limit_max_cd;
+        nav_pitch_cd += pitch_input * aparm.pitch_limit_max*100;
     } else {
-        nav_pitch_cd += -(pitch_input * pitch_limit_min_cd);
+        nav_pitch_cd += -(pitch_input * pitch_limit_min*100);
     }
-    nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
+    nav_pitch_cd = constrain_int32(nav_pitch_cd, pitch_limit_min*100, aparm.pitch_limit_max.get()*100);
 }
 
 
@@ -585,7 +585,7 @@ int16_t Plane::calc_nav_yaw_ground(void)
 void Plane::calc_nav_pitch()
 {
     int32_t commanded_pitch = TECS_controller.get_pitch_demand();
-    nav_pitch_cd = constrain_int32(commanded_pitch, pitch_limit_min_cd, aparm.pitch_limit_max_cd.get());
+    nav_pitch_cd = constrain_int32(commanded_pitch, pitch_limit_min*100, aparm.pitch_limit_max.get()*100);
 }
 
 

ArduPlane/GCS_Mavlink.cpp

@@ -133,8 +133,8 @@ void GCS_MAVLINK_Plane::send_attitude() const
     float p = ahrs.get_pitch();
     float y = ahrs.get_yaw();
 
-    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
-        p -= radians(plane.g.pitch_trim_cd * 0.01f);
+    if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH))) {
+        p -= radians(plane.g.pitch_trim);
     }
 
 #if HAL_QUADPLANE_ENABLED

ArduPlane/Parameters.cpp

@@ -267,28 +267,35 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: STALL_PREVENTION
     // @DisplayName: Enable stall prevention
-    // @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on ARSPD_FBW_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
+    // @Description: Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on AIRSPEED_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     ASCALAR(stall_prevention, "STALL_PREVENTION",  1),
 
-    // @Param: ARSPD_FBW_MIN
+    // @Param: AIRSPEED_CRUISE
+    // @DisplayName: Target cruise airspeed
+    // @Description: Target cruise airspeed in m/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
+    // @Units: m/s
+    // @User: Standard
+    ASCALAR(airspeed_cruise,     "AIRSPEED_CRUISE",  AIRSPEED_CRUISE),
+
+    // @Param: AIRSPEED_MIN
     // @DisplayName: Minimum Airspeed
     // @Description: Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
     // @Units: m/s
     // @Range: 5 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(airspeed_min, "ARSPD_FBW_MIN",  AIRSPEED_FBW_MIN),
+    ASCALAR(airspeed_min, "AIRSPEED_MIN",  AIRSPEED_FBW_MIN),
 
-    // @Param: ARSPD_FBW_MAX
+    // @Param: AIRSPEED_MAX
     // @DisplayName: Maximum Airspeed
-    // @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above ARSPD_FBW_MIN to allow for accurate TECS altitude control.
+    // @Description: Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above AIRSPEED_MIN to allow for accurate TECS altitude control.
     // @Units: m/s
     // @Range: 5 100
     // @Increment: 1
     // @User: Standard
-    ASCALAR(airspeed_max, "ARSPD_FBW_MAX",  AIRSPEED_FBW_MAX),
+    ASCALAR(airspeed_max, "AIRSPEED_MAX",  AIRSPEED_FBW_MAX),
 
     // @Param: FBWB_ELEV_REV
     // @DisplayName: Fly By Wire elevator reverse
@@ -401,7 +408,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: TRIM_THROTTLE
     // @DisplayName: Throttle cruise percentage
-    // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
+    // @Description: Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains AIRSPEED_CRUISE. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
     // @Units: %
     // @Range: 0 100
     // @Increment: 1
@@ -410,7 +417,7 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Param: THROTTLE_NUDGE
     // @DisplayName: Throttle nudge enable
-    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
+    // @Description: When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from AIRSPEED_CRUISE up to a maximum of AIRSPEED_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
     // @Values: 0:Disabled,1:Enabled
     // @User: Standard
     GSCALAR(throttle_nudge,         "THROTTLE_NUDGE",  1),
@@ -505,32 +512,32 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(initial_mode,        "INITIAL_MODE",     Mode::Number::MANUAL),
 
-    // @Param: LIM_ROLL_CD
+    // @Param: ROLL_LIMIT_DEG
     // @DisplayName: Maximum Bank Angle
     // @Description: Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
-    // @Units: cdeg
-    // @Range: 0 9000
-    // @Increment: 10
+    // @Units: deg
+    // @Range: 0 90
+    // @Increment: 0.1
     // @User: Standard
-    ASCALAR(roll_limit_cd,          "LIM_ROLL_CD",    HEAD_MAX_CENTIDEGREE),
+    ASCALAR(roll_limit,          "ROLL_LIMIT_DEG",    ROLL_LIMIT_DEG),
 
-    // @Param: LIM_PITCH_MAX
+    // @Param: PTCH_LIM_MAX_DEG
     // @DisplayName: Maximum Pitch Angle
     // @Description: Maximum pitch up angle commanded in modes with stabilized limits.
-    // @Units: cdeg
-    // @Range: 0 9000
+    // @Units: deg
+    // @Range: 0 90
     // @Increment: 10
     // @User: Standard
-    ASCALAR(pitch_limit_max_cd,     "LIM_PITCH_MAX",  PITCH_MAX_CENTIDEGREE),
+    ASCALAR(pitch_limit_max,     "PTCH_LIM_MAX_DEG",  PITCH_MAX),
 
-    // @Param: LIM_PITCH_MIN
+    // @Param: PTCH_LIM_MIN_DEG
     // @DisplayName: Minimum Pitch Angle
     // @Description: Maximum pitch down angle commanded in modes with stabilized limits
     // @Units: cdeg
-    // @Range: -9000 0
+    // @Range: -90 0
     // @Increment: 10
     // @User: Standard
-    ASCALAR(pitch_limit_min_cd,     "LIM_PITCH_MIN",  PITCH_MIN_CENTIDEGREE),
+    ASCALAR(pitch_limit_min,     "PTCH_LIM_MIN_DEG",  PITCH_MIN),
 
     // @Param: ACRO_ROLL_RATE
     // @DisplayName: ACRO mode roll rate
@@ -621,13 +628,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 
-    // @Param: TRIM_ARSPD_CM
-    // @DisplayName: Target airspeed
-    // @Description: Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
-    // @Units: cm/s
-    // @User: Standard
-    ASCALAR(airspeed_cruise_cm,     "TRIM_ARSPD_CM",  AIRSPEED_CRUISE_CM),
-
     // @Param: SCALING_SPEED
     // @DisplayName: speed used for speed scaling calculations
     // @Description: Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
@@ -637,35 +637,34 @@ const AP_Param::Info Plane::var_info[] = {
     // @User: Advanced
     GSCALAR(scaling_speed,        "SCALING_SPEED",    SCALING_SPEED),
 
-    // @Param: MIN_GNDSPD_CM
+    // @Param: MIN_GROUNDSPEED
     // @DisplayName: Minimum ground speed
     // @Description: Minimum ground speed in cm/s when under airspeed control
-    // @Units: cm/s
+    // @Units: m/s
     // @User: Advanced
-    ASCALAR(min_gndspeed_cm,      "MIN_GNDSPD_CM",  MIN_GNDSPEED_CM),
+    ASCALAR(min_groundspeed,      "MIN_GROUNDSPEED",  MIN_GROUNDSPEED),
 
-    // @Param: TRIM_PITCH_CD
+    // @Param: PTCH_TRIM_DEG
     // @DisplayName: Pitch angle offset
-    // @Description: Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter.
-    // @Units: cdeg
-    // @Range: -4500 4500
-    // @Increment: 10
-    // @User: Advanced
-    GSCALAR(pitch_trim_cd,        "TRIM_PITCH_CD",  0),
+    // @Description: Offset in degrees used for in-flight pitch trimming for level flight. Correct ground leveling is an alternative to changing this parameter.
+    // @Units: deg
+    // @Range: -45 45
+    // @User: Standard
+    GSCALAR(pitch_trim,             "PTCH_TRIM_DEG",  0.0f),
 
-    // @Param: ALT_HOLD_RTL
+    // @Param: RTL_ALTITUDE
     // @DisplayName: RTL altitude
     // @Description: Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
-    // @Units: cm
+    // @Units: m
     // @User: Standard
-    GSCALAR(RTL_altitude_cm,        "ALT_HOLD_RTL",   ALT_HOLD_HOME_CM),
+    GSCALAR(RTL_altitude,        "RTL_ALTITUDE",   ALT_HOLD_HOME),
 
-    // @Param: ALT_HOLD_FBWCM
-    // @DisplayName: Minimum altitude for FBWB mode
-    // @Description: This is the minimum altitude in centimeters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
-    // @Units: cm
+    // @Param: CRUISE_ALT_FLOOR
+    // @DisplayName: Minimum altitude for FBWB and CRUISE mode
+    // @Description: This is the minimum altitude in meters (above home) that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. It will also force a climb to this altitude if below in these modes. A value of zero means no limit.
+    // @Units: m
     // @User: Standard
-    GSCALAR(FBWB_min_altitude_cm,   "ALT_HOLD_FBWCM", ALT_HOLD_FBW_CM),
+    GSCALAR(cruise_alt_floor,   "CRUISE_ALT_FLOOR", CRUISE_ALT_FLOOR),
 
     // @Param: FLAP_1_PERCNT
     // @DisplayName: Flap 1 percentage
@@ -1091,12 +1090,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 1: Use centered throttle in Cruise or FBWB to indicate trim airspeed
     // @Bitmask: 2: Disable attitude check for takeoff arming
     // @Bitmask: 3: Force target airspeed to trim airspeed in Cruise or FBWB
-    // @Bitmask: 4: Climb to ALT_HOLD_RTL before turning for RTL
+    // @Bitmask: 4: Climb to RTL_ALTITUDE before turning for RTL
     // @Bitmask: 5: Enable yaw damper in acro mode
     // @Bitmask: 6: Supress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airspeed sensor.
     // @Bitmask: 7: EnableDefaultAirspeed for takeoff
-    // @Bitmask: 8: Remove the TRIM_PITCH_CD on the GCS horizon
-    // @Bitmask: 9: Remove the TRIM_PITCH_CD on the OSD horizon
+    // @Bitmask: 8: Remove the PTCH_TRIM_DEG on the GCS horizon
+    // @Bitmask: 9: Remove the PTCH_TRIM_DEG on the OSD horizon
     // @Bitmask: 10: Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL
     // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
     // @Bitmask: 12: Enable FBWB style loiter altitude control
@@ -1314,7 +1313,6 @@ static const AP_Param::ConversionInfo conversion_table[] = {
 
     { Parameters::k_param_land_slope_recalc_shallow_threshold,0,AP_PARAM_FLOAT, "LAND_SLOPE_RCALC" },
     { Parameters::k_param_land_slope_recalc_steep_threshold_to_abort,0,AP_PARAM_FLOAT, "LAND_ABORT_DEG" },
-    { Parameters::k_param_land_pitch_cd,      0,      AP_PARAM_INT16, "LAND_PITCH_CD" },
     { Parameters::k_param_land_flare_alt,     0,      AP_PARAM_FLOAT, "LAND_FLARE_ALT" },
     { Parameters::k_param_land_flare_sec,     0,      AP_PARAM_FLOAT, "LAND_FLARE_SEC" },
     { Parameters::k_param_land_pre_flare_sec, 0,      AP_PARAM_FLOAT, "LAND_PF_SEC" },
@@ -1545,6 +1543,19 @@ void Plane::load_parameters(void)
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, 0, true);
 #endif
+
+    // PARAMETER_CONVERSION - Added: Dec 2023
+    // Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
+    g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
+    aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
+    g.RTL_altitude.convert_centi_parameter(AP_PARAM_INT32);
+    g.cruise_alt_floor.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.pitch_limit_max.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.pitch_limit_min.convert_centi_parameter(AP_PARAM_INT16);
+    aparm.roll_limit.convert_centi_parameter(AP_PARAM_INT16);
+
+    landing.convert_parameters();
 
     hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
 }