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VTOL: make VT_FWD_THRUST_EN more concise

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-04-03 22:58:29 +02:00
committed by Matthias Grob
parent db25101e52
commit f7bde67f9a
1 changed files with 10 additions and 11 deletions
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src/modules/vtol_att_control/standard_params.c
+10 -11
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@@ -43,31 +43,30 @@
/** /**
* Use fixed-wing actuation in hover to accelerate forward * Use fixed-wing actuation in hover to accelerate forward
* *
* This feature can be used to avoid the plane having to pitch nose down in order to move forward. * Prevents downforce from pitching the body down when facing wind.
* Prevents large, negative lift from pitching nose down into wind. * Uses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead.
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). * Only active if demanded pitch is below VT_PITCH_MIN.
* Only active if demanded down pitch is below VT_PITCH_MIN.
* Use VT_FWD_THRUST_SC to tune it. * Use VT_FWD_THRUST_SC to tune it.
* Descend mode is treated as Landing too. * Descend mode is treated as Landing too.
* *
* Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized. * Only active (if enabled) in height-rate controlled modes.
* *
* @value 0 Disabled * @value 0 Disabled
* @value 1 Enabled (except LANDING) * @value 1 Enabled (except LANDING)
* @value 2 Enabled if distance to ground above MPC_LAND_ALT1 * @value 2 Enabled if above MPC_LAND_ALT1
* @value 3 Enabled if distance to ground above MPC_LAND_ALT2 * @value 3 Enabled if above MPC_LAND_ALT2
* @value 4 Enabled constantly * @value 4 Enabled constantly
* @value 5 Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING) * @value 5 Enabled if above MPC_LAND_ALT1 (except LANDING)
* @value 6 Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING) * @value 6 Enabled if above MPC_LAND_ALT2 (except LANDING)
* *
* @group VTOL Attitude Control * @group VTOL Attitude Control
*/ */
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0); PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
/** /**
* Fixed-wing actuation thrust scale for hover forward flight * Fixed-wing actuation thrust scale in hover
* *
* Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. * Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode.
* Enabled via VT_FWD_THRUST_EN. * Enabled via VT_FWD_THRUST_EN.
* *
* @min 0.0 * @min 0.0