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/**
* @file fw_pos_control_l1_params.c
*
* Parameters defined by the L1 position control task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Controller parameters, accessible via MAVLink
*/
/**
* L1 period
*
* This is the L1 distance and defines the tracking
* point ahead of the aircraft its following.
* A value of 25 meters works for most aircraft. Shorten
* slowly during tuning until response is sharp without oscillation.
*
* @min 1.0
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
/**
* L1 damping
*
* Damping factor for L1 control.
*
* @min 0.6
* @max 0.9
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
/**
* Cruise throttle
*
* This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
/**
* Negative pitch limit
*
* The minimum negative pitch the controller will output.
*
* @unit degrees
* @min -60.0
* @max 0.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f);
/**
* Positive pitch limit
*
* The maximum positive pitch the controller will output.
*
* @unit degrees
* @min 0.0
* @max 60.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
/**
* Controller roll limit
*
* The maximum roll the controller will output.
*
* @unit degrees
* @min 0.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
/**
* Throttle limit max
*
* This is the maximum throttle % that can be used by the controller.
* For overpowered aircraft, this should be reduced to a value that
* provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
/**
* Throttle limit min
*
* This is the minimum throttle % that can be used by the controller.
* For electric aircraft this will normally be set to zero, but can be set
* to a small non-zero value if a folding prop is fitted to prevent the
* prop from folding and unfolding repeatedly in-flight or to provide
* some aerodynamic drag from a turning prop to improve the descent rate.
*
* For aircraft with internal combustion engine this parameter should be set
* for desired idle rpm.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
/**
* Throttle limit value before flare
*
* This throttle value will be set as throttle limit at FW_LND_TLALT,
* before arcraft will flare.
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
/**
* Landing slope angle
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f);
/**
*
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
/**
* Landing flare altitude (relative)
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
/**
* Landing throttle limit altitude (relative)
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f);
/**
* Landing heading hold horizontal distance
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
/**
* Relative altitude threshold for range finder measurements for use during landing
*
* range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT
* set to < 0 to disable
* the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location
*
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f);
