From 7441efde4745c0dddc08a36a0bbf83307f82948a Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Fri, 14 Feb 2014 01:48:00 +0100 Subject: Add a lot of MAVLink parameter documentation. --- src/lib/launchdetection/launchdetection_params.c | 48 ++-- src/modules/commander/commander_params.c | 32 +++ src/modules/mavlink/mavlink.c | 12 + src/modules/navigator/geofence_params.c | 16 +- src/modules/navigator/navigator_params.c | 63 ++++- src/modules/sensors/sensor_params.c | 301 ++++++++++++++++++++--- src/modules/systemlib/system_params.c | 19 +- 7 files changed, 432 insertions(+), 59 deletions(-) (limited to 'src') diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 63a8981aa..45d7957f1 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -45,28 +45,46 @@ #include /* - * Launch detection parameters, accessible via MAVLink + * Catapult launch detection parameters, accessible via MAVLink * */ -/* Catapult Launch detection */ - -// @DisplayName Switch to enable launchdetection -// @Description if set to 1 launchdetection is enabled -// @Range 0 or 1 +/** + * Enable launch detection. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_INT32(LAUN_ALL_ON, 0); -// @DisplayName Catapult Accelerometer Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0 +/** + * Catapult accelerometer theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f); -// @DisplayName Catapult Time Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0, in seconds +/** + * Catapult time theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f); -// @DisplayName Throttle setting while detecting the launch -// @Description The throttle is set to this value while the system is waiting for the takeoff -// @Range 0 to 1 +/** + * Throttle setting while detecting launch. + * + * The throttle is set to this value while the system is waiting for the take-off. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f); diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index d3155f7bf..80ca68f21 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -48,7 +48,39 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); + +/** + * Empty cell voltage. + * + * Defines the voltage where a single cell of the battery is considered empty. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f); + +/** + * Full cell voltage. + * + * Defines the voltage where a single cell of the battery is considered full. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f); + +/** + * Number of cells. + * + * Defines the number of cells the attached battery consists of. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_N_CELLS, 3); + +/** + * Battery capacity. + * + * Defines the capacity of the attached battery. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..ade4469c5 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -76,8 +76,20 @@ #include /* define MAVLink specific parameters */ +/** + * MAVLink system ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_SYS_ID, 1); +/** + * MAVLink component ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); +/** + * MAVLink type + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); __EXPORT int mavlink_main(int argc, char *argv[]); diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 20dd1fe2f..5831a0ca9 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -45,11 +45,17 @@ #include /* - * geofence parameters, accessible via MAVLink - * + * Geofence parameters, accessible via MAVLink */ -// @DisplayName Switch to enable geofence -// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present -// @Range 0 or 1 +/** + * Enable geofence. + * + * Set to 1 to enable geofence. + * Defaults to 1 because geofence is only enabled when the geofence.txt file is present. + * + * @min 0 + * @max 1 + * @group Geofence + */ PARAM_DEFINE_INT32(GF_ON, 1); diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 9e05bbffa..ec7a4e229 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -50,15 +50,72 @@ /* * Navigator parameters, accessible via MAVLink - * */ +/** + * Minimum altitude + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f); + +/** + * Waypoint acceptance radius. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f); + +/** + * Loiter radius. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); + +/** + * @group Navigation + */ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); + +/** + * Default take-off altitude. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude + +/** + * Landing altitude. + * + * Slowly descend from this altitude when landing. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing + +/** + * Return-to-land altitude. + * + * Minimum altitude for going home in RTL mode. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode -PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT -PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); // enable parachute deployment + +/** + * Return-to-land delay. + * + * Delay after descend before landing. + * If set to -1 the system will not land but loiter at NAV_LAND_ALT. + * + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); + +/** + * Enable parachute deployment. + * + * @group Navigation + */ +PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 30659fd3a..288c6e00a 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -42,13 +42,10 @@ */ #include - #include /** - * Gyro X offset - * - * This is an X-axis offset for the gyro. Adjust it according to the calibration data. + * Gyro X-axis offset * * @min -10.0 * @max 10.0 @@ -57,7 +54,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); /** - * Gyro Y offset + * Gyro Y-axis offset * * @min -10.0 * @max 10.0 @@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); /** - * Gyro Z offset + * Gyro Z-axis offset * * @min -5.0 * @max 5.0 @@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); /** - * Gyro X scaling - * - * X-axis scaling. + * Gyro X-axis scaling factor * * @min -1.5 * @max 1.5 @@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); /** - * Gyro Y scaling - * - * Y-axis scaling. + * Gyro Y-axis scaling factor * * @min -1.5 * @max 1.5 @@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); /** - * Gyro Z scaling - * - * Z-axis scaling. + * Gyro Z-axis scaling factor * * @min -1.5 * @max 1.5 @@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); + /** - * Magnetometer X offset - * - * This is an X-axis offset for the magnetometer. + * Magnetometer X-axis offset * * @min -500.0 * @max 500.0 @@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); /** - * Magnetometer Y offset - * - * This is an Y-axis offset for the magnetometer. + * Magnetometer Y-axis offset * * @min -500.0 * @max 500.0 @@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); /** - * Magnetometer Z offset - * - * This is an Z-axis offset for the magnetometer. + * Magnetometer Z-axis offset * * @min -500.0 * @max 500.0 @@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +/** + * Differential pressure sensor offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); + +/** + * Differential pressure sensor analog enabled + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); + +/** + * Board rotation + * + * This parameter defines the rotation of the FMU board relative to the platform. + * Possible values are: + * 0 = No rotation + * 1 = Yaw 45° + * 2 = Yaw 90° + * 3 = Yaw 135° + * 4 = Yaw 180° + * 5 = Yaw 225° + * 6 = Yaw 270° + * 7 = Yaw 315° + * 8 = Roll 180° + * 9 = Roll 180°, Yaw 45° + * 10 = Roll 180°, Yaw 90° + * 11 = Roll 180°, Yaw 135° + * 12 = Pitch 180° + * 13 = Roll 180°, Yaw 225° + * 14 = Roll 180°, Yaw 270° + * 15 = Roll 180°, Yaw 315° + * 16 = Roll 90° + * 17 = Roll 90°, Yaw 45° + * 18 = Roll 90°, Yaw 90° + * 19 = Roll 90°, Yaw 135° + * 20 = Roll 270° + * 21 = Roll 270°, Yaw 45° + * 22 = Roll 270°, Yaw 90° + * 23 = Roll 270°, Yaw 135° + * 24 = Pitch 90° + * 25 = Pitch 270° + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); + +/** + * External magnetometer rotation + * + * This parameter defines the rotation of the external magnetometer relative + * to the platform (not relative to the FMU). + * See SENS_BOARD_ROT for possible values. + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); + /** * RC Channel 1 Minimum * @@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif -PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +/** + * DSM binding trigger. + * + * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + * + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_DSM_BIND, -1); + + +/** + * Scaling factor for battery voltage sensor on PX4IO. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/** + * Scaling factor for battery voltage sensor on FMU v2. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else -/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ -/* PX4IOAR: 0.00838095238 */ -/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */ -/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */ +/** + * Scaling factor for battery voltage sensor on FMU v1. + * + * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 + * FMUv1 with PX4IO: 0.00459340659 + * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f); #endif + +/** + * Scaling factor for battery current sensor. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */ + /** * Roll control channel mapping. * @@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4); * @group Radio Calibration */ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); + +/** + * Return switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); + +/** + * Assist switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); + +/** + * Mission switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +/** + * Flaps channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); -PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */ +/** + * Auxiliary switch 1 channel mapping. + * + * Default function: Camera pitch + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); + +/** + * Auxiliary switch 2 channel mapping. + * + * Default function: Camera roll + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */ +/** + * Auxiliary switch 3 channel mapping. + * + * Default function: Camera azimuth / yaw + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); + + +/** + * Roll scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); + +/** + * Pitch scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); + +/** + * Yaw scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); -PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ + +/** + * Failsafe channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_CH, 0); + +/** + * Failsafe channel mode. + * + * 0 = too low means signal loss, + * 1 = too high means signal loss + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); + +/** + * Failsafe channel PWM threshold. + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index 75be090f8..cb35a2541 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -40,8 +40,23 @@ #include #include -// Auto-start script with index #n +/** + * Auto-start script index. + * + * Defines the auto-start script used to bootstrap the system. + * + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); -// Automatically configure default values +/** + * Automatically configure default values. + * + * Set to 1 to set platform-specific parameters to their default + * values on next system startup. + * + * @min 0 + * @max 1 + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); -- cgit v1.2.3 From 9e56652d3eda75a2738bcb9eab3ff99ac2aa455b Mon Sep 17 00:00:00 2001 From: Highlander-UA <315u448@ukrpost.net> Date: Sat, 15 Feb 2014 13:34:49 +0200 Subject: Added comments for L1 control parameters --- .../fw_pos_control_l1/fw_pos_control_l1_params.c | 191 ++++++++++++++++++++- 1 file changed, 185 insertions(+), 6 deletions(-) (limited to 'src') 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 512ca7b8a..9f15a9386 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 @@ -120,57 +120,236 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); 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. + * +*/ +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. +*/ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); - -PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); - +/* + * Throttle limit value before flare + * + * This throttle value will be set as throttle limit at FW_LND_TLALT, + * before arcraft will flare. +*/ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); + +/* + * Maximum climb rate + * + * This is the best climb rate that the aircraft can achieve with + * the throttle set to THR_MAX and the airspeed set to the + * default value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * The setting of this parameter can be checked by commanding a positive + * altitude change of 100m in loiter, RTL or guided mode. If the throttle + * required to climb is close to THR_MAX and the aircraft is maintaining + * airspeed, then this parameter is set correctly. If the airspeed starts + * to reduce, then the parameter is set to high, and if the throttle + * demand required to climb and maintain speed is noticeably less than + * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or + * FW_THR_MAX reduced. +*/ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); +/* + * Minimum descent rate + * + * This is the sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. +*/ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); +/* + * Maximum descent rate + * + * This sets the maximum descent rate that the controller will use. + * If this value is too large, the aircraft can over-speed on descent. + * This should be set to a value that can be achieved without + * exceeding the lower pitch angle limit and without over-speeding + * the aircraft. +*/ +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); + + +/* + * TECS time constant + * + * This is the time constant of the TECS control algorithm (in seconds). + * Smaller values make it faster to respond, larger values make it slower + * to respond. +*/ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); +/* + * 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. +*/ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); +/* + * Integrator gain + * + * This is the integrator gain on the control loop. + * Increasing this gain increases the speed at which speed + * and height offsets are trimmed out, but reduces damping and + * increases overshoot. +*/ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); +/* + * Maximum vertical acceleration + * + * This is the maximum vertical acceleration (in metres/second^2) + * either up or down that the controller will use to correct speed + * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) + * allows for reasonably aggressive pitch changes if required to recover + * from under-speed conditions. +*/ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); +*/ + * Complementary filter "omega" parameter for height + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse vertical acceleration and barometric height to obtain + * an estimate of height rate and height. Increasing this frequency weights + * the solution more towards use of the barometer, whilst reducing it weights + * the solution more towards use of the accelerometer data. + +*/ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); +/* + * Complementary filter "omega" parameter for speed + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse longitudinal acceleration and airspeed to obtain an + * improved airspeed estimate. Increasing this frequency weights the solution + * more towards use of the arispeed sensor, whilst reducing it weights the + * solution more towards use of the accelerometer data. +*/ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); +/* + * Roll -> Throttle feedforward + * + * Increasing this gain turn increases the amount of throttle that will + * be used to compensate for the additional drag created by turning. + * Ideally this should be set to approximately 10 x the extra sink rate + * in m/s created by a 45 degree bank turn. Increase this gain if + * the aircraft initially loses energy in turns and reduce if the + * aircraft initially gains energy in turns. Efficient high aspect-ratio + * aircraft (eg powered sailplanes) can use a lower value, whereas + * inefficient low aspect-ratio models (eg delta wings) can use a higher value. +*/ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); +/* + * Speed <--> Altitude priority + * + * This parameter adjusts the amount of weighting that the pitch control + * applies to speed vs height errors. Setting it to 0.0 will cause the + * pitch control to control height and ignore speed errors. This will + * normally improve height accuracy but give larger airspeed errors. + * Setting it to 2.0 will cause the pitch control loop to control speed + * and ignore height errors. This will normally reduce airspeed errors, + * but give larger height errors. The default value of 1.0 allows the pitch + * control to simultaneously control height and speed. + * Note to Glider Pilots – set this parameter to 2.0 (The glider will + * adjust its pitch angle to maintain airspeed, ignoring changes in height). +*/ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); +/* + * Pitch damping factor + * + * This is the damping gain for the pitch demand loop. Increase to add + * damping to correct for oscillations in height. The default value of 0.0 + * will work well provided the pitch to servo controller has been tuned + * properly. +*/ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); - -PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); - +/* + * Height rate P factor +*/ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); + +/* + * Speed rate P factor +*/ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); +/* + * Landing slope angle +*/ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); + +/* + * Landing slope length +*/ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); + +/* + * +*/ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); + +/* + * Landing flare altitude (relative) +*/ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); + +/* + * Landing throttle limit altitude (relative) +*/ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); + +/* + * Landing heading hold horizontal distance +*/ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); -- cgit v1.2.3 From 480ba491f35019bfe781b1616bc8db71e71f2740 Mon Sep 17 00:00:00 2001 From: Highlander-UA <315u448@ukrpost.net> Date: Sat, 15 Feb 2014 17:27:38 +0200 Subject: Missing descriptions added for L1 control parameters --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src') 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 9f15a9386..e0b8d8771 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 @@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); -*/ +/* * Complementary filter "omega" parameter for height * * This is the cross-over frequency (in radians/second) of the complementary -- cgit v1.2.3 From d811853d4463279556f596c7fb064ba016a83acd Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sat, 15 Feb 2014 21:47:13 +0100 Subject: Fixed Doxygen comments and added parameter documentation group. --- .../fw_pos_control_l1/fw_pos_control_l1_params.c | 153 ++++++++++++--------- 1 file changed, 91 insertions(+), 62 deletions(-) (limited to 'src') 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 e0b8d8771..416a6fcfc 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 @@ -40,12 +40,10 @@ */ #include - #include /* * Controller parameters, accessible via MAVLink - * */ /** @@ -119,7 +117,6 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); */ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); - /** * Controller roll limit * @@ -131,17 +128,18 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); */ 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. @@ -152,19 +150,22 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); * * 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); - -/* +/** * Maximum climb rate * * This is the best climb rate that the aircraft can achieve with @@ -179,21 +180,23 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); * demand required to climb and maintain speed is noticeably less than * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or * FW_THR_MAX reduced. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); - -/* +/** * Minimum descent rate * * This is the sink rate of the aircraft with the throttle * set to THR_MIN and flown at the same airspeed as used * to measure FW_T_CLMB_MAX. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); - -/* +/** * Maximum descent rate * * This sets the maximum descent rate that the controller will use. @@ -201,41 +204,45 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); * This should be set to a value that can be achieved without * exceeding the lower pitch angle limit and without over-speeding * the aircraft. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); - -/* +/** * TECS time constant * * This is the time constant of the TECS control algorithm (in seconds). * Smaller values make it faster to respond, larger values make it slower * to respond. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); - -/* +/** * 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 + */ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); - -/* +/** * Integrator gain * * This is the integrator gain on the control loop. * Increasing this gain increases the speed at which speed * and height offsets are trimmed out, but reduces damping and * increases overshoot. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); - -/* +/** * Maximum vertical acceleration * * This is the maximum vertical acceleration (in metres/second^2) @@ -243,11 +250,12 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) * allows for reasonably aggressive pitch changes if required to recover * from under-speed conditions. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); - -/* +/** * Complementary filter "omega" parameter for height * * This is the cross-over frequency (in radians/second) of the complementary @@ -255,12 +263,12 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); * an estimate of height rate and height. Increasing this frequency weights * the solution more towards use of the barometer, whilst reducing it weights * the solution more towards use of the accelerometer data. - -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); - -/* +/** * Complementary filter "omega" parameter for speed * * This is the cross-over frequency (in radians/second) of the complementary @@ -268,11 +276,12 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); * improved airspeed estimate. Increasing this frequency weights the solution * more towards use of the arispeed sensor, whilst reducing it weights the * solution more towards use of the accelerometer data. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); - -/* +/** * Roll -> Throttle feedforward * * Increasing this gain turn increases the amount of throttle that will @@ -283,11 +292,12 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); * aircraft initially gains energy in turns. Efficient high aspect-ratio * 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 + */ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); - -/* +/** * Speed <--> Altitude priority * * This parameter adjusts the amount of weighting that the pitch control @@ -300,56 +310,75 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); * control to simultaneously control height and speed. * 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 + */ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); - -/* +/** * Pitch damping factor * * This is the damping gain for the pitch demand loop. Increase to add * damping to correct for oscillations in height. The default value of 0.0 * will work well provided the pitch to servo controller has been tuned * properly. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); -/* +/** * Height rate P factor -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); -/* +/** * Speed rate P factor -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); -/* +/** * Landing slope angle -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); -/* +/** * Landing slope length -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); -/* +/** * -*/ + * + * @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); -- cgit v1.2.3 From 1c13225b194583945324d247b83a5236e665d919 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sun, 16 Feb 2014 01:45:10 +0100 Subject: Fixed illegal character 0x96. --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src') 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 416a6fcfc..62a340e90 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 @@ -308,7 +308,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); * and ignore height errors. This will normally reduce airspeed errors, * but give larger height errors. The default value of 1.0 allows the pitch * control to simultaneously control height and speed. - * Note to Glider Pilots – set this parameter to 2.0 (The glider will + * 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 -- cgit v1.2.3