From 05992691eaba0d365cafb6aa38c6bb0d55322560 Mon Sep 17 00:00:00 2001
From: PX4 Jenkins <bot@pixhawk.org>
Date: Thu, 8 Mar 2018 22:37:37 -0600
Subject: [PATCH] Update PX4 Firmware metadata Thu Mar  8 22:37:37 CST 2018

---
 .../PX4/PX4ParameterFactMetaData.xml               | 42 +++++++++++-----------
 1 file changed, 22 insertions(+), 20 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 397f1e3..cd61fcb 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -9336,9 +9336,10 @@ Airbrakes need to be enables for your selected model/mixer</short_desc>
       <scope>modules/vtol_att_control</scope>
     </parameter>
     <parameter default="0.0" name="VT_B_TRANS_THR" type="FLOAT">
-      <short_desc>Thottle output during back transition
-For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking
-For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking</short_desc>
+      <short_desc>Target throttle value for the transition to hover flight.
+standard vtol: pusher
+tailsitter, tiltrotor: main throttle</short_desc>
+      <long_desc>Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking</long_desc>
       <min>-1</min>
       <max>1</max>
       <decimal>2</decimal>
@@ -9411,15 +9412,6 @@ to accelerate forward if necessary</short_desc>
       <boolean />
       <scope>modules/vtol_att_control</scope>
     </parameter>
-    <parameter default="0.0" name="VT_FW_PITCH_TRIM" type="FLOAT">
-      <short_desc>Fixed wing pitch trim</short_desc>
-      <long_desc>This parameter allows to adjust the neutral elevon position in fixed wing mode.</long_desc>
-      <min>-1.0</min>
-      <max>1.0</max>
-      <decimal>2</decimal>
-      <increment>0.01</increment>
-      <scope>modules/vtol_att_control</scope>
-    </parameter>
     <parameter default="0" name="VT_FW_QC_P" type="INT32">
       <short_desc>QuadChute Max Pitch</short_desc>
       <long_desc>Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL</long_desc>
@@ -9444,6 +9436,16 @@ to accelerate forward if necessary</short_desc>
       <increment>1</increment>
       <scope>modules/vtol_att_control</scope>
     </parameter>
+    <parameter default="1.0" name="VT_F_TRANS_THR" type="FLOAT">
+      <short_desc>Target throttle value for the transition to fixed wing flight.
+standard vtol: pusher
+tailsitter, tiltrotor: main throttle</short_desc>
+      <min>0.0</min>
+      <max>1.0</max>
+      <decimal>3</decimal>
+      <increment>0.01</increment>
+      <scope>modules/vtol_att_control</scope>
+    </parameter>
     <parameter default="6.0" name="VT_F_TR_OL_TM" type="FLOAT">
       <short_desc>Airspeed less front transition time (open loop)</short_desc>
       <long_desc>The duration of the front transition when there is no airspeed feedback available.</long_desc>
@@ -9474,6 +9476,14 @@ to accelerate forward if necessary</short_desc>
       <boolean />
       <scope>modules/vtol_att_control</scope>
     </parameter>
+    <parameter default="3.0" name="VT_PSHER_RMP_DT" type="FLOAT">
+      <short_desc>Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
+to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR</short_desc>
+      <max>20</max>
+      <decimal>2</decimal>
+      <increment>0.01</increment>
+      <scope>modules/vtol_att_control</scope>
+    </parameter>
     <parameter default="1.0" name="VT_TILT_FW" type="FLOAT">
       <short_desc>Position of tilt servo in fw mode</short_desc>
       <min>0.0</min>
@@ -9516,14 +9526,6 @@ to accelerate forward if necessary</short_desc>
       <increment>0.01</increment>
       <scope>modules/vtol_att_control</scope>
     </parameter>
-    <parameter default="0.6" name="VT_TRANS_THR" type="FLOAT">
-      <short_desc>Target throttle value for pusher/puller motor during the transition to fw mode</short_desc>
-      <min>0.0</min>
-      <max>1.0</max>
-      <decimal>3</decimal>
-      <increment>0.01</increment>
-      <scope>modules/vtol_att_control</scope>
-    </parameter>
     <parameter default="15.0" name="VT_TRANS_TIMEOUT" type="FLOAT">
       <short_desc>Front transition timeout</short_desc>
       <long_desc>Time in seconds after which transition will be cancelled. Disabled if set to 0.</long_desc>