Make throttle time constant tunable separately, group TECS params correctly, make climbout alt configurable

1 files changed, 36 insertions, 13 deletions

diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 52128e1b7..a0d9309b9 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -155,6 +155,18 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
 
 /**
+ * Climbout Altitude difference
+ *
+ * If the altitude error exceeds this parameter, the system will climb out
+ * with maximum throttle and minimum airspeed until it is closer than this
+ * distance to the desired altitude. Mostly used for takeoff waypoints / modes.
+ * Set to zero to disable climbout mode (not recommended).
+ *
+ * @group L1 Control
+ */
+PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
+
+/**
  * Maximum climb rate
  *
  * This is the best climb rate that the aircraft can achieve with 
@@ -181,7 +193,7 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);
  * set to THR_MIN and flown at the same airspeed as used 
  * to measure FW_T_CLMB_MAX.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
 
@@ -194,7 +206,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f);
  * exceeding the lower pitch angle limit and without over-speeding 
  * the aircraft.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
 
@@ -205,17 +217,28 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
  * Smaller values make it faster to respond, larger values make it slower
  * to respond.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f);
 
 /**
+ * TECS Throttle time constant
+ *
+ * This is the time constant of the TECS throttle control algorithm (in seconds). 
+ * Smaller values make it faster to respond, larger values make it slower
+ * to respond.
+ *
+ * @group Fixed Wing TECS
+ */
+PARAM_DEFINE_FLOAT(FW_T_THRO_CONST, 8.0f);
+
+/**
  * Throttle damping factor
  *
  * This is the damping gain for the throttle demand loop. 
  * Increase to add damping to correct for oscillations in speed and height.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
 
@@ -227,7 +250,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f);
  * and height offsets are trimmed out, but reduces damping and 
  * increases overshoot.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
 
@@ -240,7 +263,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f);
  * allows for reasonably aggressive pitch changes if required to recover 
  * from under-speed conditions.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 
@@ -253,7 +276,7 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
  * the solution more towards use of the barometer, whilst reducing it weights 
  * the solution more towards use of the accelerometer data.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
 
@@ -266,7 +289,7 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f);
  * more towards use of the arispeed sensor, whilst reducing it weights the 
  * solution more towards use of the accelerometer data.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
 
@@ -282,7 +305,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f);
  * aircraft (eg powered sailplanes) can use a lower value, whereas 
  * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
 
@@ -300,7 +323,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f);
  * Note to Glider Pilots - set this parameter to 2.0 (The glider will 
  * adjust its pitch angle to maintain airspeed, ignoring changes in height).
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
 
@@ -312,21 +335,21 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f);
  * will work well provided the pitch to servo controller has been tuned 
  * properly.
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
 
 /**
  * Height rate P factor
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
 
 /**
  * Speed rate P factor
  *
- * @group L1 Control
+ * @group Fixed Wing TECS
  */
 PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);