/****************************************************************************
*
* Copyright (c) 2014 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 vtol_att_control_params.c
* Parameters for vtol attitude controller.
*
* @author Roman Bapst <bapstr@ethz.ch>
*/
#include <systemlib/param/param.h>
/**
* VTOL number of engines
*
* @min 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_MOT_COUNT,0);
/**
* Idle speed of VTOL when in multicopter mode
*
* @min 900
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900);
/**
* Minimum airspeed in multicopter mode
*
* This is the minimum speed of the air flowing over the control surfaces.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,10.0f);
/**
* Maximum airspeed in multicopter mode
*
* This is the maximum speed of the air flowing over the control surfaces.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f);
/**
* Trim airspeed when in multicopter mode
*
* This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
/**
* Permanent stabilization in fw mode
*
* If set to one this parameter will cause permanent attitude stabilization in fw mode.
* This parameter has been introduced for pure convenience sake.
*
* @min 0
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);
/**
* Fixed wing pitch trim
*
* This parameter allows to adjust the neutral elevon position in fixed wing mode.
*
* @min -1
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);
/**
* Motor max power
*
* Indicates the maximum power the motor is able to produce. Used to calculate
* propeller efficiency map.
*
* @min 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_POWER_MAX,120.0f);
/**
* Propeller efficiency parameter
*
* Influences propeller efficiency at different power settings. Should be tuned beforehand.
*
* @min 0.5
* @max 0.9
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PROP_EFF,0.0f);
/**
* Total airspeed estimate low-pass filter gain
*
* Gain for tuning the low-pass filter for the total airspeed estimate
*
* @min 0.0
* @max 0.99
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN,0.3f);
