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[Port 1.14] FW/VTOL: open up a couple of param constraints #21671

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merged 7 commits into from
Jun 2, 2023
Merged

[Port 1.14] FW/VTOL: open up a couple of param constraints #21671

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3efd3ec
FW Rate Controller: relax param ranges
sfuhrer May 16, 2023
18d03fb
FWRateController: fix @group, all should be in FW Rate Control group
sfuhrer May 16, 2023
8c615f3
Commander: open up limits on TRIM_ROLL/PITCH/YAW to +/- 50%
sfuhrer May 16, 2023
43806e0
FWAttitudeController: params: increases parameter ranges
sfuhrer May 16, 2023
8e486fe
Tiltrotor params: set default for VT_TILT_TRANS to 0.4
sfuhrer May 16, 2023
49a93ef
VTOL: params: add missing @decimal and @increment
sfuhrer May 16, 2023
91ca46a
FW TECS: reduce default for FW_T_I_GAIN_THR to more appropriate 0.05
sfuhrer May 16, 2023
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12 changes: 6 additions & 6 deletions src/modules/commander/commander_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,8 +50,8 @@
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
Expand All @@ -66,8 +66,8 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
Expand All @@ -82,8 +82,8 @@ PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
* copying them using the GCS.
*
* @group Radio Calibration
* @min -0.25
* @max 0.25
* @min -0.5
* @max 0.5
* @decimal 2
* @increment 0.01
*/
Expand Down
20 changes: 7 additions & 13 deletions src/modules/fw_att_control/fw_att_control_params.c
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Expand Up @@ -40,11 +40,6 @@
* @author Thomas Gubler <thomas@px4.io>
*/

/*
* Controller parameters, accessible via MAVLink
*
*/

/**
* Attitude Roll Time Constant
*
Expand Down Expand Up @@ -86,7 +81,7 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
Expand All @@ -98,7 +93,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
Expand All @@ -110,7 +105,7 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
Expand All @@ -122,7 +117,7 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
*
* @unit deg/s
* @min 0.0
* @max 90.0
* @max 180
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
Expand All @@ -140,7 +135,6 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 50.0f);
*/
PARAM_DEFINE_INT32(FW_W_EN, 0);


/**
* Wheel steering rate proportional gain
*
Expand All @@ -149,7 +143,7 @@ PARAM_DEFINE_INT32(FW_W_EN, 0);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
Expand All @@ -164,7 +158,7 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
*
* @unit %/rad
* @min 0.0
* @max 0.5
* @max 10
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
Expand Down Expand Up @@ -207,7 +201,7 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 30.0f);
*
* @unit %/rad/s
* @min 0.0
* @max 1.0
* @max 10
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
Expand Down
2 changes: 1 addition & 1 deletion src/modules/fw_pos_control/fw_path_navigation_params.c
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Expand Up @@ -540,7 +540,7 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.1f);
* @increment 0.05
* @group FW TECS
*/
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.1f);
PARAM_DEFINE_FLOAT(FW_T_I_GAIN_THR, 0.05f);

/**
* Integrator gain pitch
Expand Down
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