/
standard_params.c
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/
standard_params.c
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file standard_params.c
* Parameters for the standard VTOL controller.
*
* @author Simon Wilks <simon@uaventure.com>
* @author Roman Bapst <roman@px4.io>
*/
/**
* Enable/disable 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.
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
* Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
* demanded down pitch to fixed-wing actuation.
*
* @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.
*
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
/**
* Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
* when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
* If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
*
* @min 0.0
* @max 45.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);
/**
* Fixed-wing actuator thrust scale for hover forward flight.
*
* Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode.
* Only active if demaded down pitch is above VT_DWN_PITCH_MAX.
* Enabled via VT_FWD_THRUST_EN.
*
* @min 0.0
* @max 2.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
/**
* Back transition MC motor ramp up time
*
* This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.
*
* @unit s
* @min 0.0
* @max 20.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
/**
* Output on airbrakes channel during back transition
* Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel
* Airbrakes need to be enables for your selected model/mixer
*
* @min 0
* @max 1
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
/**
* Delay in seconds before applying back transition throttle
* Set this to a value greater than 0 to give the motor time to spin down.
*
* unit s
* @min 0
* @max 10
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
/**
* Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
* to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
*
* @max 20
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);