Skip to content
Snippets Groups Projects
Commit b471d940 authored by Daniel Agar's avatar Daniel Agar
Browse files

fw_att_control_params.c param metadata

parent a1a1a515
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
src/modules/fw_att_control/fw_att_control_params.c
+ 66
− 49
View file @ b471d940
......@@ -57,6 +57,8 @@
* @unit s
* @min 0.4
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
......@@ -73,6 +75,8 @@ PARAM_DEFINE_FLOAT(FW_R_TC, 0.4f);
* @unit s
* @min 0.2
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
......@@ -86,6 +90,8 @@ PARAM_DEFINE_FLOAT(FW_P_TC, 0.4f);
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
......@@ -99,6 +105,8 @@ PARAM_DEFINE_FLOAT(FW_PR_P, 0.08f);
* @unit %/rad
* @min 0.005
* @max 0.5
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
......@@ -112,6 +120,8 @@ PARAM_DEFINE_FLOAT(FW_PR_I, 0.02f);
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
......@@ -125,6 +135,8 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 60.0f);
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
......@@ -135,9 +147,10 @@ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 60.0f);
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @unit %
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
......@@ -151,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.4f);
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
......@@ -164,6 +179,8 @@ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f);
* @unit %/rad
* @min 0.005
* @max 0.2
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
......@@ -173,9 +190,10 @@ PARAM_DEFINE_FLOAT(FW_RR_I, 0.01f);
*
* The portion of the integrator part in the control surface deflection is limited to this value.
*
* @unit %
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
......@@ -189,6 +207,8 @@ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f);
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
......@@ -202,6 +222,8 @@ PARAM_DEFINE_FLOAT(FW_R_RMAX, 70.0f);
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
......@@ -215,6 +237,8 @@ PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f);
* @unit %/rad
* @min 0.0
* @max 50.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
......@@ -225,9 +249,10 @@ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f);
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @unit %
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
......@@ -241,6 +266,8 @@ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f);
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
......@@ -254,6 +281,8 @@ PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f);
* @unit %/rad/s
* @min 0.005
* @max 1.0
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
......@@ -265,8 +294,10 @@ PARAM_DEFINE_FLOAT(FW_WR_P, 0.5f);
* state error. It trims any constant error.
*
* @unit %/rad
* @min 0.0
* @max 50.0
* @min 0.005
* @max 0.5
* @decimal 3
* @increment 0.005
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
......@@ -277,9 +308,10 @@ PARAM_DEFINE_FLOAT(FW_WR_I, 0.1f);
* The portion of the integrator part in the control surface deflection is
* limited to this value
*
* @unit %
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
......@@ -293,6 +325,8 @@ PARAM_DEFINE_FLOAT(FW_WR_IMAX, 1.0f);
* @unit deg/s
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
......@@ -307,6 +341,8 @@ PARAM_DEFINE_FLOAT(FW_W_RMAX, 0.0f);
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
......@@ -319,6 +355,8 @@ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.5f);
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
......@@ -331,6 +369,8 @@ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.5f);
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
......@@ -343,6 +383,8 @@ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f);
* @unit %/rad/s
* @min 0.0
* @max 10.0
* @decimal 2
* @increment 0.05
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
......@@ -354,6 +396,10 @@ PARAM_DEFINE_FLOAT(FW_WR_FF, 0.2f);
* turn. Set to a very high value to disable.
*
* @unit m/s
* @min 0.0
* @max 1000.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
......@@ -373,49 +419,6 @@ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f);
*/
PARAM_DEFINE_INT32(FW_YCO_METHOD, 0);
/* Airspeed parameters:
* The following parameters about airspeed are used by the attitude and the
* position controller.
* */
/**
* Minimum Airspeed
*
* If the airspeed falls below this value, the TECS controller will try to
* increase airspeed more aggressively.
*
* @unit m/s
* @min 0.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f);
/**
* Trim Airspeed
*
* The TECS controller tries to fly at this airspeed.
*
* @unit m/s
* @min 0.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 15.0f);
/**
* Maximum Airspeed
*
* If the airspeed is above this value, the TECS controller will try to decrease
* airspeed more aggressively.
*
* @unit m/s
* @min 0.0
* @max 40
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
/**
* Roll Setpoint Offset
*
......@@ -426,6 +429,8 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f);
* @unit deg
* @min -90.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
......@@ -440,6 +445,8 @@ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f);
* @unit deg
* @min -90.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
......@@ -452,6 +459,8 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
......@@ -464,6 +473,8 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
......@@ -471,8 +482,11 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
/**
* Scale factor for flaps
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
......@@ -480,8 +494,11 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
/**
* Scale factor for flaperons
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment