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VTOL: increase default of VT_B_TRANS_DUR to 10s

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A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-04-18 11:18:19 +02:00
committed by Beat Küng
parent f2c392e187
commit cbbd514c1b
7 changed files with 4 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol
-1
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@@ -77,6 +77,5 @@ param set-default NAV_ACC_RAD 5
param set-default VT_FWD_THRUST_EN 4 param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75 param set-default VT_F_TRANS_THR 0.75
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2 param set-default VT_TYPE 2
ROMFS/px4fmu_common/init.d-posix/airframes/1042_gazebo-classic_tiltrotor
-1
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@@ -70,7 +70,6 @@ param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MIS_TAKEOFF_ALT 10 param set-default MIS_TAKEOFF_ALT 10
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_EN 4 param set-default VT_FWD_THRUST_EN 4
param set-default VT_FWD_THRUST_SC 0.6 param set-default VT_FWD_THRUST_SC 0.6
param set-default VT_TILT_TRANS 0.6 param set-default VT_TILT_TRANS 0.6
ROMFS/px4fmu_common/init.d-posix/airframes/1043_gazebo-classic_standard_vtol_drop
-1
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@@ -78,7 +78,6 @@ param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75 param set-default VT_F_TRANS_THR 0.75
param set-default VT_MOT_ID 1234 param set-default VT_MOT_ID 1234
param set-default VT_FW_MOT_OFFID 1234 param set-default VT_FW_MOT_OFFID 1234
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2 param set-default VT_TYPE 2
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
-1
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@@ -106,6 +106,5 @@ param set-default NAV_ACC_RAD 5
param set-default VT_FWD_THRUST_EN 4 param set-default VT_FWD_THRUST_EN 4
param set-default VT_F_TRANS_THR 0.75 param set-default VT_F_TRANS_THR 0.75
param set-default VT_B_TRANS_DUR 8
param set-default VT_TYPE 2 param set-default VT_TYPE 2
param set-default FD_ESCS_EN 0 param set-default FD_ESCS_EN 0
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
-1
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@@ -117,7 +117,6 @@ param set-default VT_PITCH_MIN 8
param set-default VT_FW_QC_P 55 param set-default VT_FW_QC_P 55
param set-default VT_FW_QC_R 55 param set-default VT_FW_QC_R 55
param set-default VT_TRANS_MIN_TM 15 param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_SC 4 param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1 param set-default VT_F_TRANS_DUR 1
param set-default VT_B_TRANS_THR 0.7 param set-default VT_B_TRANS_THR 0.7
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
-1
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@@ -80,7 +80,6 @@ param set-default SENS_BOARD_ROT 4
param set-default VT_ARSP_BLEND 10 param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21 param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5 param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0 param set-default VT_ELEV_MC_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2 param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_F_TR_OL_TM 8 param set-default VT_F_TR_OL_TM 8
src/modules/vtol_att_control/vtol_att_control_params.c
+4 -3
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@@ -77,9 +77,10 @@ PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 1);
PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f); PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
/** /**
* Duration of a back transition * Maximum duration of a back transition
* *
* Time in seconds used for a back transition * Time in seconds used for a back transition maximally.
* Transition is also declared over if the groundspeed drops below MPC_XY_CRUISE.
* *
* @unit s * @unit s
* @min 0.1 * @min 0.1
@@ -88,7 +89,7 @@ PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 5.0f);
* @decimal 2 * @decimal 2
* @group VTOL Attitude Control * @group VTOL Attitude Control
*/ */
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 4.0f); PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 10.0f);
/** /**
* Target throttle value for the transition to fixed-wing flight. * Target throttle value for the transition to fixed-wing flight.