diff --git a/src/lib/fw_performance_model/PerformanceModel.hpp b/src/lib/fw_performance_model/PerformanceModel.hpp index c283fd4d01..fbdd8693c2 100644 --- a/src/lib/fw_performance_model/PerformanceModel.hpp +++ b/src/lib/fw_performance_model/PerformanceModel.hpp @@ -131,7 +131,6 @@ private: (ParamFloat) _param_weight_gross, (ParamFloat) _param_service_ceiling, (ParamFloat) _param_fw_thr_trim, - (ParamFloat) _param_fw_thr_idle, (ParamFloat) _param_fw_thr_max, (ParamFloat) _param_fw_thr_min, (ParamFloat) _param_fw_thr_aspd_min, diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index eb42160483..3f2398f340 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -990,7 +990,6 @@ private: (ParamFloat) _param_fw_flaps_lnd_scl, (ParamFloat) _param_fw_flaps_to_scl, (ParamFloat) _param_fw_spoilers_lnd, - (ParamFloat) _param_fw_spoilers_desc, (ParamInt) _param_fw_pos_stk_conf, diff --git a/src/modules/fw_pos_control/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c index 7666167452..a5d9c851f3 100644 --- a/src/modules/fw_pos_control/fw_path_navigation_params.c +++ b/src/modules/fw_pos_control/fw_path_navigation_params.c @@ -193,9 +193,9 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f); PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f); /** - * Minimum pitch angle + * Minimum pitch angle setpoint * - * The minimum pitch angle setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min -60.0 @@ -207,9 +207,9 @@ PARAM_DEFINE_FLOAT(FW_THR_SLEW_MAX, 0.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f); /** - * Maximum pitch angle + * Maximum pitch angle setpoint * - * The maximum pitch angle setpoint setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min 0.0 @@ -221,9 +221,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -30.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 30.0f); /** - * Maximum roll angle + * Maximum roll angle setpoint * - * The maximum roll angle setpoint for setpoint for a height-rate or altitude controlled mode. + * Applies in any altitude controlled flight mode. * * @unit deg * @min 35.0 @@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f); /** * Throttle limit max * - * Maximum throttle limit in altitude controlled modes. + * Applies in any altitude controlled flight mode. * Should be set accordingly to achieve FW_T_CLMB_MAX. * * @unit norm @@ -252,13 +252,10 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); /** * Throttle limit min * - * Minimum throttle limit in altitude controlled modes. + * Applies in any altitude controlled flight mode. * Usually set to 0 but can be increased to prevent the motor from stopping when * descending, which can increase achievable descent rates. * - * For aircraft with internal combustion engine this parameter should be set - * for desired idle rpm. - * * @unit norm * @min 0.0 * @max 1.0 @@ -271,13 +268,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); /** * Idle throttle * - * This is the minimum throttle while on the ground - * - * For aircraft with internal combustion engines, this parameter should be set - * above the desired idle rpm. For electric motors, idle should typically be set - * to zero. - * - * Note that in automatic modes, "landed" conditions will engage idle throttle. + * This is the minimum throttle while on the ground ("landed") in auto modes. * * @unit norm * @min 0.0 @@ -318,9 +309,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_PITCH_MIN, 10.0f); /** * Takeoff Airspeed * - * The calibrated airspeed setpoint TECS will stabilize to during the takeoff climbout. + * The calibrated airspeed setpoint during the takeoff climbout. * - * If set <= 0.0, FW_AIRSPD_MIN will be set by default. + * If set <= 0, FW_AIRSPD_MIN will be set by default. * * @unit m/s * @min -1.0 @@ -344,7 +335,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f); PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f); /** - * Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible. + * Use terrain estimation during landing. + * + * This is critical for detecting when to flare, and should be enabled if possible. * * NOTE: terrain estimate is currently solely derived from a distance sensor. * @@ -365,9 +358,9 @@ PARAM_DEFINE_INT32(FW_LND_USETER, 1); /** * Early landing configuration deployment * - * When disabled, the landing configuration (flaps, landing airspeed, etc.) is only activated - * on the final approach to landing. When enabled, it is already activated when entering the - * final loiter-down (loiter-to-alt) waypoint before the landing approach. + * Allows to deploy the landing configuration (flaps, landing airspeed, etc.) already in + * the loiter-down waypoint before the final approach. + * Otherwise is enabled only in the final approach. * * @boolean * @@ -378,8 +371,7 @@ PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0); /** * Flare, minimum pitch * - * Minimum pitch during flare, a positive sign means nose up - * Applied once flaring is triggered + * Minimum pitch during landing flare. * * @unit deg * @min -5 @@ -393,8 +385,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMIN, 2.5f); /** * Flare, maximum pitch * - * Maximum pitch during flare, a positive sign means nose up - * Applied once flaring is triggered + * Maximum pitch during landing flare. * * @unit deg * @min 0 @@ -410,7 +401,7 @@ PARAM_DEFINE_FLOAT(FW_LND_FL_PMAX, 15.0f); * * The calibrated airspeed setpoint during landing. * - * If set <= 0.0, landing airspeed = FW_AIRSPD_MIN by default. + * If set <= 0, landing airspeed = FW_AIRSPD_MIN by default. * * @unit m/s * @min -1.0 @@ -423,9 +414,8 @@ PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f); /** * Altitude time constant factor for landing * - * Set this parameter to less than 1.0 to make TECS react faster to altitude errors during - * landing than during normal flight. During landing, the TECS - * altitude time constant (FW_T_ALT_TC) is multiplied by this value. + * During landing, the TECS altitude time constant (FW_T_ALT_TC) + * is multiplied by this value. * * @unit * @min 0.2 @@ -445,10 +435,6 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f); * 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. * * @unit m/s * @min 1.0 @@ -463,7 +449,6 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 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. * * @min 0.0 * @max 1.0 @@ -476,7 +461,6 @@ PARAM_DEFINE_FLOAT(FW_T_THR_DAMPING, 0.05f); /** * Integrator gain throttle * - * Integrator gain on the throttle part of the control loop. * Increase it to trim out speed and height offsets faster, * with the downside of possible overshoots and oscillations. * @@ -491,7 +475,6 @@ PARAM_DEFINE_FLOAT(FW_T_THR_INTEG, 0.02f); /** * Integrator gain pitch * - * Integrator gain on the pitch part of the control loop. * Increase it to trim out speed and height offsets faster, * with the downside of possible overshoots and oscillations. * @@ -506,11 +489,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f); /** * Maximum vertical acceleration * - * This is the maximum vertical acceleration (in m/s/s) + * This is the maximum vertical acceleration * 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. + * or height errors. * * @unit m/s^2 * @min 1.0 @@ -522,9 +503,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f); PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); /** - * Airspeed measurement standard deviation for airspeed filter. + * Airspeed measurement standard deviation * - * This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS. + * For the airspeed filter in TECS. * * @unit m/s * @min 0.01 @@ -536,9 +517,9 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f); /** - * Airspeed rate measurement standard deviation for airspeed filter. + * Airspeed rate measurement standard deviation * - * This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS. + * For the airspeed filter in TECS. * * @unit m/s^2 * @min 0.01 @@ -550,12 +531,10 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f); PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f); /** - * Process noise standard deviation for the airspeed rate in the airspeed filter. + * Process noise standard deviation for the airspeed rate * - * This is the process noise standard deviation in the airspeed filter filter defining the noise in the - * airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and - * the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the - * drawback for delays. + * This is defining the noise in the airspeed rate for the constant airspeed rate model + * of the TECS airspeed filter. * * @unit m/s^2 * @min 0.01 @@ -570,14 +549,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f); /** * 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. + * Is used to compensate for the additional drag created by turning. + * Increase this gain if the aircraft initially loses energy in turns + * and reduce if the aircraft initially gains energy in turns. * * @min 0.0 * @max 20.0 @@ -590,13 +564,11 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f); /** * Speed <--> Altitude priority * - * This parameter adjusts the amount of weighting that the pitch control + * 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. + * pitch control to control height and ignore speed 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 + * and ignore height errors. The default value of 1.0 allows the pitch * control to simultaneously control height and speed. * Set to 2 for gliders. * @@ -609,12 +581,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f); 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. + * Pitch damping gain * * @min 0.0 * @max 2.0 @@ -635,7 +602,10 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f); PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f); /** - * Minimum altitude error needed to descend with max airspeed. A negative value disables fast descend. + * Fast descend: minimum altitude error + * + * Minimum altitude error needed to descend with max airspeed and minimal throttle. + * A negative value disables fast descend. * * @min -1.0 * @decimal 0 @@ -680,9 +650,9 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f); PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f); /** - * RC stick configuration fixed-wing. + * Custom stick configuration * - * Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight. + * Applies in manual Position and Altitude flight modes. * * @min 0 * @max 3 @@ -720,9 +690,8 @@ PARAM_DEFINE_FLOAT(FW_T_SEB_R_FF, 1.0f); /** * Default target climbrate. * - * The default rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints. - * In manual modes this defines the maximum rate at which the altitude setpoint can be increased. - * + * In auto modes: default climb rate output by controller to achieve altitude setpoints. + * In manual modes: maximum climb rate setpoint. * * @unit m/s * @min 0.5 @@ -736,9 +705,8 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f); /** * Default target sinkrate. * - * - * The default rate at which the vehicle will sink in autonomous modes to achieve altitude setpoints. - * In manual modes this defines the maximum rate at which the altitude setpoint can be decreased. + * In auto modes: default sink rate output by controller to achieve altitude setpoints. + * In manual modes: maximum sink rate setpoint. * * @unit m/s * @min 0.5 @@ -752,7 +720,7 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f); /** * GPS failure loiter time * - * The time in seconds the system should do open loop loiter and wait for GPS recovery + * The time the system should do open loop loiter and wait for GPS recovery * before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R. * Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0. * @@ -766,7 +734,7 @@ PARAM_DEFINE_INT32(FW_GPSF_LT, 30); /** * GPS failure fixed roll angle * - * Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter). + * Roll angle in GPS failure loiter mode. * * @unit deg * @min 0.0 @@ -875,7 +843,7 @@ PARAM_DEFINE_FLOAT(FW_LND_TD_OFF, 3.0); * Approach path nudging: shifts the touchdown point laterally along with the entire approach path * * This is useful for manually adjusting the landing point in real time when map or GNSS errors cause an offset from the - * desired landing vector. Nuding is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is + * desired landing vector. Nudging is done with yaw stick, constrained to FW_LND_TD_OFF (in meters) and the direction is * relative to the vehicle heading (stick deflection to the right = land point moves to the right as seen by the vehicle). * * @min 0 @@ -914,7 +882,6 @@ PARAM_DEFINE_INT32(FW_LND_ABORT, 3); * Multiplying this factor with the current absolute wind estimate gives the airspeed offset * added to the minimum airspeed setpoint limit. This helps to make the * system more robust against disturbances (turbulence) in high wind. - * Only applies to AUTO flight mode. * * @min 0 * @decimal 2 @@ -975,15 +942,3 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f); * @group FW Attitude Control */ PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f); - -/** - * Spoiler descend setting - * - * @unit norm - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @increment 0.01 - * @group FW Attitude Control - */ -PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f);