From ec29e4acfb0721c97509d1d14a05f5a41396f28c Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Mon, 5 Jun 2023 16:48:11 +0000 Subject: [PATCH] Update PX4 Firmware metadata Mon Jun 5 16:48:11 UTC 2023 --- .../PX4/PX4ParameterFactMetaData.xml | 194 ++++++++++----------- 1 file changed, 97 insertions(+), 97 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index f311a40..49d838c 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -2498,14 +2498,6 @@ - - Airspeed mode - On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading - - Use airspeed in controller - Do not use airspeed in controller - - Maximum manual pitch angle Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode @@ -2515,14 +2507,6 @@ 1 0.5 - - Manual pitch scale - Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - norm - 2 - 0.01 - Maximum manual roll angle Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode @@ -2532,15 +2516,6 @@ 1 0.5 - - Manual roll scale - Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - 1.0 - norm - 2 - 0.01 - Maximum manually added yaw rate This is the maximally added yaw rate setpoint from the yaw stick in any attitude controlled flight mode. The controller already generates a yaw rate setpoint to coordinate a turn, and this value is added to it. This is an absolute value, which is applied symmetrically to the negative and positive side. @@ -2549,14 +2524,6 @@ 1 0.5 - - Manual yaw scale - Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - norm - 2 - 0.01 - Pitch setpoint offset (pitch at level flight) An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the pitch at typical cruise speed of the airframe. @@ -2569,7 +2536,7 @@ Maximum negative / down pitch rate setpoint 0.0 - 90.0 + 180 deg/s 1 0.5 @@ -2577,7 +2544,7 @@ Maximum positive / up pitch rate setpoint 0.0 - 90.0 + 180 deg/s 1 0.5 @@ -2591,17 +2558,10 @@ 2 0.05 - - Roll control to yaw control feedforward gain - This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect. - 0.0 - 1 - 0.01 - Maximum roll rate setpoint 0.0 - 90.0 + 180 deg/s 1 0.5 @@ -2631,20 +2591,11 @@ 2 0.01 - - Spoiler input in manual flight - Chose source for manual setting of spoilers in manual flight modes. - - Disabled - Flaps channel - Aux1 - - Wheel steering rate feed forward Direct feed forward from rate setpoint to control surface output 0.0 - 1.0 + 10 %/rad/s 2 0.05 @@ -2653,7 +2604,7 @@ Wheel steering rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 0.5 + 10 %/rad 3 0.005 @@ -2670,7 +2621,7 @@ Wheel steering rate proportional gain This defines how much the wheel steering input will be commanded depending on the current body angular rate error. 0.0 - 1.0 + 10 %/rad/s 3 0.005 @@ -2691,7 +2642,7 @@ Maximum yaw rate setpoint 0.0 - 90.0 + 180 deg/s 1 0.5 @@ -2983,7 +2934,7 @@ Acro body x max rate This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode. - 45 + 10 720 deg @@ -2993,16 +2944,24 @@ Acro body pitch max rate setpoint - 45 + 10 720 deg Acro body yaw max rate setpoint 10 - 180 + 720 deg + + Airspeed mode + On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading + + Use airspeed in controller + Do not use airspeed in controller + + Enable airspeed scaling This enables a logic that automatically adjusts the output of the rate controller to take into account the real torque produced by an aerodynamic control surface given the current deviation from the trim airspeed (FW_AIRSPD_TRIM). Enable when using aerodynamic control surfaces (e.g.: plane) Disable when using rotor wings (e.g.: autogyro) @@ -3014,48 +2973,48 @@ Pitch trim increment at maximum airspeed This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Pitch trim increment at minimum airspeed This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Roll trim increment at maximum airspeed This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Roll trim increment at minimum airspeed This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Yaw trim increment at maximum airspeed This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Yaw trim increment at minimum airspeed This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 @@ -3077,11 +3036,36 @@ 2 0.01 + + Manual pitch scale + Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + + + Manual roll scale + Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + 1.0 + norm + 2 + 0.01 + + + Manual yaw scale + Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. + 0.0 + norm + 2 + 0.01 + Pitch rate derivative gain Pitch rate differential gain. 0.0 - 1.0 + 10 %/rad/s 3 0.005 @@ -3099,7 +3083,7 @@ Pitch rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 0.5 + 10 %/rad 3 0.005 @@ -3115,16 +3099,23 @@ Pitch rate proportional gain 0.0 - 1.0 + 10 %/rad/s 3 0.005 + + Roll control to yaw control feedforward gain + This gain can be used to counteract the "adverse yaw" effect for fixed wings. When the plane enters a roll it will tend to yaw the nose out of the turn. This gain enables the use of a yaw actuator to counteract this effect. + 0.0 + 1 + 0.01 + Roll rate derivative Gain Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - 1.0 + 10 %/rad/s 3 0.005 @@ -3142,10 +3133,10 @@ Roll rate integrator Gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 0.2 + 10 %/rad - 3 - 0.005 + 2 + 0.01 Roll integrator anti-windup @@ -3158,16 +3149,25 @@ Roll rate proportional Gain 0.0 - 1.0 + 10 %/rad/s 3 0.005 + + Spoiler input in manual flight + Chose source for manual setting of spoilers in manual flight modes. + + Disabled + Flaps channel + Aux1 + + Yaw rate derivative gain Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again. 0.0 - 1.0 + 10 %/rad/s 3 0.005 @@ -3185,7 +3185,7 @@ Yaw rate integrator gain This gain defines how much control response will result out of a steady state error. It trims any constant error. 0.0 - 50.0 + 10 %/rad 1 0.5 @@ -3201,7 +3201,7 @@ Yaw rate proportional gain 0.0 - 1.0 + 10 %/rad/s 3 0.005 @@ -3212,7 +3212,6 @@ Maximum Airspeed (CAS) The maximal airspeed (calibrated airspeed) the user is able to command. 0.5 - 40 m/s 1 0.5 @@ -3221,7 +3220,6 @@ Minimum Airspeed (CAS) The minimal airspeed (calibrated airspeed) the user is able to command. Further, if the airspeed falls below this value, the TECS controller will try to increase airspeed more aggressively. Has to be set according to the vehicle's stall speed (which should be set in FW_AIRSPD_STALL), with some margin between the stall speed and minimum airspeed. This value corresponds to the desired minimum speed with the default load factor (level flight, default weight), and is automatically adpated to the current load factor (calculated from roll setpoint and WEIGHT_GROSS/WEIGHT_BASE). 0.5 - 40 m/s 1 0.5 @@ -3230,7 +3228,6 @@ Stall Airspeed (CAS) The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits. 0.5 - 40 m/s 1 0.5 @@ -3239,7 +3236,6 @@ Trim (Cruise) Airspeed The trim CAS (calibrated airspeed) of the vehicle. If an airspeed controller is active, this is the default airspeed setpoint that the controller will try to achieve. 0.5 - 40 m/s 1 0.5 @@ -3378,7 +3374,7 @@ 2 0.05 - + Integrator gain throttle This is the integrator gain on the throttle part of the control loop. Increasing this gain increases the speed at which speed and height offsets are trimmed out, but reduces damping and increases overshoot. Set this value to zero to completely disable all integrator action. 0.0 @@ -6971,24 +6967,24 @@ Pitch trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Roll trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 Yaw trim The trim value is the actuator control value the system needs for straight and level flight. It can be calibrated by flying manually straight and level using the RC trims and copying them using the GCS. - -0.25 - 0.25 + -0.5 + 0.5 2 0.01 @@ -10450,6 +10446,8 @@ 0.0 20.0 s + 1 + 0.1 Lock control surfaces in hover @@ -10473,6 +10471,8 @@ Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN. 0.0 2.0 + 2 + 0.01 Differential thrust in forwards flight @@ -10618,14 +10618,14 @@ 0.1 - Position of tilt servo in fw mode + Normalized tilt in FW 0.0 1.0 3 0.01 - Position of tilt servo in mc mode + Normalized tilt in Hover 0.0 1.0 3 @@ -10639,8 +10639,8 @@ 2 0.01 - - Position of tilt servo in transition mode + + Normalized tilt in transition to FW 0.0 1.0 3