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Update PX4 Firmware metadata Mon Jun 5 16:48:11 UTC 2023

QGC4.4
PX4BuildBot 2 years ago
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  1. 194
      src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

194
src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
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@ -2498,14 +2498,6 @@
</parameter> </parameter>
</group> </group>
<group name="FW Attitude Control"> <group name="FW Attitude Control">
<parameter name="FW_ARSP_MODE" default="0" type="INT32">
<short_desc>Airspeed mode</short_desc>
<long_desc>On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading</long_desc>
<values>
<value code="0">Use airspeed in controller</value>
<value code="1">Do not use airspeed in controller</value>
</values>
</parameter>
<parameter name="FW_MAN_P_MAX" default="30.0" type="FLOAT"> <parameter name="FW_MAN_P_MAX" default="30.0" type="FLOAT">
<short_desc>Maximum manual pitch angle</short_desc> <short_desc>Maximum manual pitch angle</short_desc>
<long_desc>Maximum manual pitch angle setpoint (positive &amp; negative) in manual attitude-only stabilized mode</long_desc> <long_desc>Maximum manual pitch angle setpoint (positive &amp; negative) in manual attitude-only stabilized mode</long_desc>
@ -2515,14 +2507,6 @@
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
</parameter> </parameter>
<parameter name="FW_MAN_P_SC" default="1.0" type="FLOAT">
<short_desc>Manual pitch scale</short_desc>
<long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_MAN_R_MAX" default="45.0" type="FLOAT"> <parameter name="FW_MAN_R_MAX" default="45.0" type="FLOAT">
<short_desc>Maximum manual roll angle</short_desc> <short_desc>Maximum manual roll angle</short_desc>
<long_desc>Maximum manual roll angle setpoint (positive &amp; negative) in manual attitude-only stabilized mode</long_desc> <long_desc>Maximum manual roll angle setpoint (positive &amp; negative) in manual attitude-only stabilized mode</long_desc>
@ -2532,15 +2516,6 @@
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
</parameter> </parameter>
<parameter name="FW_MAN_R_SC" default="1.0" type="FLOAT">
<short_desc>Manual roll scale</short_desc>
<long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<max>1.0</max>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_MAN_YR_MAX" default="30." type="FLOAT"> <parameter name="FW_MAN_YR_MAX" default="30." type="FLOAT">
<short_desc>Maximum manually added yaw rate</short_desc> <short_desc>Maximum manually added yaw rate</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
@ -2549,14 +2524,6 @@
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
</parameter> </parameter>
<parameter name="FW_MAN_Y_SC" default="1.0" type="FLOAT">
<short_desc>Manual yaw scale</short_desc>
<long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_PSP_OFF" default="0.0" type="FLOAT"> <parameter name="FW_PSP_OFF" default="0.0" type="FLOAT">
<short_desc>Pitch setpoint offset (pitch at level flight)</short_desc> <short_desc>Pitch setpoint offset (pitch at level flight)</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
@ -2569,7 +2536,7 @@
<parameter name="FW_P_RMAX_NEG" default="60.0" type="FLOAT"> <parameter name="FW_P_RMAX_NEG" default="60.0" type="FLOAT">
<short_desc>Maximum negative / down pitch rate setpoint</short_desc> <short_desc>Maximum negative / down pitch rate setpoint</short_desc>
<min>0.0</min> <min>0.0</min>
<max>90.0</max> <max>180</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -2577,7 +2544,7 @@
<parameter name="FW_P_RMAX_POS" default="60.0" type="FLOAT"> <parameter name="FW_P_RMAX_POS" default="60.0" type="FLOAT">
<short_desc>Maximum positive / up pitch rate setpoint</short_desc> <short_desc>Maximum positive / up pitch rate setpoint</short_desc>
<min>0.0</min> <min>0.0</min>
<max>90.0</max> <max>180</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -2591,17 +2558,10 @@
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.05</increment> <increment>0.05</increment>
</parameter> </parameter>
<parameter name="FW_RLL_TO_YAW_FF" default="0.0" type="FLOAT">
<short_desc>Roll control to yaw control feedforward gain</short_desc>
<long_desc>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.</long_desc>
<min>0.0</min>
<decimal>1</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_R_RMAX" default="70.0" type="FLOAT"> <parameter name="FW_R_RMAX" default="70.0" type="FLOAT">
<short_desc>Maximum roll rate setpoint</short_desc> <short_desc>Maximum roll rate setpoint</short_desc>
<min>0.0</min> <min>0.0</min>
<max>90.0</max> <max>180</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -2631,20 +2591,11 @@
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_SPOILERS_MAN" default="0" type="INT32">
<short_desc>Spoiler input in manual flight</short_desc>
<long_desc>Chose source for manual setting of spoilers in manual flight modes.</long_desc>
<values>
<value code="0">Disabled</value>
<value code="1">Flaps channel</value>
<value code="2">Aux1</value>
</values>
</parameter>
<parameter name="FW_WR_FF" default="0.2" type="FLOAT"> <parameter name="FW_WR_FF" default="0.2" type="FLOAT">
<short_desc>Wheel steering rate feed forward</short_desc> <short_desc>Wheel steering rate feed forward</short_desc>
<long_desc>Direct feed forward from rate setpoint to control surface output</long_desc> <long_desc>Direct feed forward from rate setpoint to control surface output</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.05</increment> <increment>0.05</increment>
@ -2653,7 +2604,7 @@
<short_desc>Wheel steering rate integrator gain</short_desc> <short_desc>Wheel steering rate integrator gain</short_desc>
<long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc> <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.5</max> <max>10</max>
<unit>%/rad</unit> <unit>%/rad</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -2670,7 +2621,7 @@
<short_desc>Wheel steering rate proportional gain</short_desc> <short_desc>Wheel steering rate proportional gain</short_desc>
<long_desc>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</long_desc> <long_desc>This defines how much the wheel steering input will be commanded depending on the current body angular rate error.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -2691,7 +2642,7 @@
<parameter name="FW_Y_RMAX" default="50.0" type="FLOAT"> <parameter name="FW_Y_RMAX" default="50.0" type="FLOAT">
<short_desc>Maximum yaw rate setpoint</short_desc> <short_desc>Maximum yaw rate setpoint</short_desc>
<min>0.0</min> <min>0.0</min>
<max>90.0</max> <max>180</max>
<unit>deg/s</unit> <unit>deg/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -2983,7 +2934,7 @@
<parameter name="FW_ACRO_X_MAX" default="90" type="FLOAT"> <parameter name="FW_ACRO_X_MAX" default="90" type="FLOAT">
<short_desc>Acro body x max rate</short_desc> <short_desc>Acro body x max rate</short_desc>
<long_desc>This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.</long_desc> <long_desc>This is the rate the controller is trying to achieve if the user applies full roll stick input in acro mode.</long_desc>
<min>45</min> <min>10</min>
<max>720</max> <max>720</max>
<unit>deg</unit> <unit>deg</unit>
</parameter> </parameter>
@ -2993,16 +2944,24 @@
</parameter> </parameter>
<parameter name="FW_ACRO_Y_MAX" default="90" type="FLOAT"> <parameter name="FW_ACRO_Y_MAX" default="90" type="FLOAT">
<short_desc>Acro body pitch max rate setpoint</short_desc> <short_desc>Acro body pitch max rate setpoint</short_desc>
<min>45</min> <min>10</min>
<max>720</max> <max>720</max>
<unit>deg</unit> <unit>deg</unit>
</parameter> </parameter>
<parameter name="FW_ACRO_Z_MAX" default="45" type="FLOAT"> <parameter name="FW_ACRO_Z_MAX" default="45" type="FLOAT">
<short_desc>Acro body yaw max rate setpoint</short_desc> <short_desc>Acro body yaw max rate setpoint</short_desc>
<min>10</min> <min>10</min>
<max>180</max> <max>720</max>
<unit>deg</unit> <unit>deg</unit>
</parameter> </parameter>
<parameter name="FW_ARSP_MODE" default="0" type="INT32">
<short_desc>Airspeed mode</short_desc>
<long_desc>On vehicles without airspeed sensor this parameter can be used to enable flying without an airspeed reading</long_desc>
<values>
<value code="0">Use airspeed in controller</value>
<value code="1">Do not use airspeed in controller</value>
</values>
</parameter>
<parameter name="FW_ARSP_SCALE_EN" default="1" type="INT32" boolean="true"> <parameter name="FW_ARSP_SCALE_EN" default="1" type="INT32" boolean="true">
<short_desc>Enable airspeed scaling</short_desc> <short_desc>Enable airspeed scaling</short_desc>
<long_desc>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)</long_desc> <long_desc>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)</long_desc>
@ -3014,48 +2973,48 @@
<parameter name="FW_DTRIM_P_VMAX" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_P_VMAX" default="0.0" type="FLOAT">
<short_desc>Pitch trim increment at maximum airspeed</short_desc> <short_desc>Pitch trim increment at maximum airspeed</short_desc>
<long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.</long_desc> <long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_DTRIM_P_VMIN" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_P_VMIN" default="0.0" type="FLOAT">
<short_desc>Pitch trim increment at minimum airspeed</short_desc> <short_desc>Pitch trim increment at minimum airspeed</short_desc>
<long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.</long_desc> <long_desc>This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_DTRIM_R_VMAX" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_R_VMAX" default="0.0" type="FLOAT">
<short_desc>Roll trim increment at maximum airspeed</short_desc> <short_desc>Roll trim increment at maximum airspeed</short_desc>
<long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.</long_desc> <long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_DTRIM_R_VMIN" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_R_VMIN" default="0.0" type="FLOAT">
<short_desc>Roll trim increment at minimum airspeed</short_desc> <short_desc>Roll trim increment at minimum airspeed</short_desc>
<long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.</long_desc> <long_desc>This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_DTRIM_Y_VMAX" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_Y_VMAX" default="0.0" type="FLOAT">
<short_desc>Yaw trim increment at maximum airspeed</short_desc> <short_desc>Yaw trim increment at maximum airspeed</short_desc>
<long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.</long_desc> <long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_DTRIM_Y_VMIN" default="0.0" type="FLOAT"> <parameter name="FW_DTRIM_Y_VMIN" default="0.0" type="FLOAT">
<short_desc>Yaw trim increment at minimum airspeed</short_desc> <short_desc>Yaw trim increment at minimum airspeed</short_desc>
<long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.</long_desc> <long_desc>This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
@ -3077,11 +3036,36 @@
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_MAN_P_SC" default="1.0" type="FLOAT">
<short_desc>Manual pitch scale</short_desc>
<long_desc>Scale factor applied to the desired pitch actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_MAN_R_SC" default="1.0" type="FLOAT">
<short_desc>Manual roll scale</short_desc>
<long_desc>Scale factor applied to the desired roll actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<max>1.0</max>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_MAN_Y_SC" default="1.0" type="FLOAT">
<short_desc>Manual yaw scale</short_desc>
<long_desc>Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces.</long_desc>
<min>0.0</min>
<unit>norm</unit>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_PR_D" default="0." type="FLOAT"> <parameter name="FW_PR_D" default="0." type="FLOAT">
<short_desc>Pitch rate derivative gain</short_desc> <short_desc>Pitch rate derivative gain</short_desc>
<long_desc>Pitch rate differential gain.</long_desc> <long_desc>Pitch rate differential gain.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -3099,7 +3083,7 @@
<short_desc>Pitch rate integrator gain</short_desc> <short_desc>Pitch rate integrator gain</short_desc>
<long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc> <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.5</max> <max>10</max>
<unit>%/rad</unit> <unit>%/rad</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -3115,16 +3099,23 @@
<parameter name="FW_PR_P" default="0.08" type="FLOAT"> <parameter name="FW_PR_P" default="0.08" type="FLOAT">
<short_desc>Pitch rate proportional gain</short_desc> <short_desc>Pitch rate proportional gain</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
</parameter> </parameter>
<parameter name="FW_RLL_TO_YAW_FF" default="0.0" type="FLOAT">
<short_desc>Roll control to yaw control feedforward gain</short_desc>
<long_desc>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.</long_desc>
<min>0.0</min>
<decimal>1</decimal>
<increment>0.01</increment>
</parameter>
<parameter name="FW_RR_D" default="0.00" type="FLOAT"> <parameter name="FW_RR_D" default="0.00" type="FLOAT">
<short_desc>Roll rate derivative Gain</short_desc> <short_desc>Roll rate derivative Gain</short_desc>
<long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Roll rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -3142,10 +3133,10 @@
<short_desc>Roll rate integrator Gain</short_desc> <short_desc>Roll rate integrator Gain</short_desc>
<long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc> <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>0.2</max> <max>10</max>
<unit>%/rad</unit> <unit>%/rad</unit>
<decimal>3</decimal> <decimal>2</decimal>
<increment>0.005</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="FW_RR_IMAX" default="0.2" type="FLOAT"> <parameter name="FW_RR_IMAX" default="0.2" type="FLOAT">
<short_desc>Roll integrator anti-windup</short_desc> <short_desc>Roll integrator anti-windup</short_desc>
@ -3158,16 +3149,25 @@
<parameter name="FW_RR_P" default="0.05" type="FLOAT"> <parameter name="FW_RR_P" default="0.05" type="FLOAT">
<short_desc>Roll rate proportional Gain</short_desc> <short_desc>Roll rate proportional Gain</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
</parameter> </parameter>
<parameter name="FW_SPOILERS_MAN" default="0" type="INT32">
<short_desc>Spoiler input in manual flight</short_desc>
<long_desc>Chose source for manual setting of spoilers in manual flight modes.</long_desc>
<values>
<value code="0">Disabled</value>
<value code="1">Flaps channel</value>
<value code="2">Aux1</value>
</values>
</parameter>
<parameter name="FW_YR_D" default="0.0" type="FLOAT"> <parameter name="FW_YR_D" default="0.0" type="FLOAT">
<short_desc>Yaw rate derivative gain</short_desc> <short_desc>Yaw rate derivative gain</short_desc>
<long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc> <long_desc>Yaw rate differential gain. Small values help reduce fast oscillations. If value is too big oscillations will appear again.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -3185,7 +3185,7 @@
<short_desc>Yaw rate integrator gain</short_desc> <short_desc>Yaw rate integrator gain</short_desc>
<long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc> <long_desc>This gain defines how much control response will result out of a steady state error. It trims any constant error.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>50.0</max> <max>10</max>
<unit>%/rad</unit> <unit>%/rad</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -3201,7 +3201,7 @@
<parameter name="FW_YR_P" default="0.05" type="FLOAT"> <parameter name="FW_YR_P" default="0.05" type="FLOAT">
<short_desc>Yaw rate proportional gain</short_desc> <short_desc>Yaw rate proportional gain</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>10</max>
<unit>%/rad/s</unit> <unit>%/rad/s</unit>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.005</increment> <increment>0.005</increment>
@ -3212,7 +3212,6 @@
<short_desc>Maximum Airspeed (CAS)</short_desc> <short_desc>Maximum Airspeed (CAS)</short_desc>
<long_desc>The maximal airspeed (calibrated airspeed) the user is able to command.</long_desc> <long_desc>The maximal airspeed (calibrated airspeed) the user is able to command.</long_desc>
<min>0.5</min> <min>0.5</min>
<max>40</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -3221,7 +3220,6 @@
<short_desc>Minimum Airspeed (CAS)</short_desc> <short_desc>Minimum Airspeed (CAS)</short_desc>
<long_desc>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).</long_desc> <long_desc>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).</long_desc>
<min>0.5</min> <min>0.5</min>
<max>40</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -3230,7 +3228,6 @@
<short_desc>Stall Airspeed (CAS)</short_desc> <short_desc>Stall Airspeed (CAS)</short_desc>
<long_desc>The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.</long_desc> <long_desc>The stall airspeed (calibrated airspeed) of the vehicle. It is used for airspeed sensor failure detection and for the control surface scaling airspeed limits.</long_desc>
<min>0.5</min> <min>0.5</min>
<max>40</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -3239,7 +3236,6 @@
<short_desc>Trim (Cruise) Airspeed</short_desc> <short_desc>Trim (Cruise) Airspeed</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0.5</min> <min>0.5</min>
<max>40</max>
<unit>m/s</unit> <unit>m/s</unit>
<decimal>1</decimal> <decimal>1</decimal>
<increment>0.5</increment> <increment>0.5</increment>
@ -3378,7 +3374,7 @@
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.05</increment> <increment>0.05</increment>
</parameter> </parameter>
<parameter name="FW_T_I_GAIN_THR" default="0.1" type="FLOAT"> <parameter name="FW_T_I_GAIN_THR" default="0.05" type="FLOAT">
<short_desc>Integrator gain throttle</short_desc> <short_desc>Integrator gain throttle</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>0.0</min> <min>0.0</min>
@ -6971,24 +6967,24 @@
<parameter name="TRIM_PITCH" default="0.0" type="FLOAT"> <parameter name="TRIM_PITCH" default="0.0" type="FLOAT">
<short_desc>Pitch trim</short_desc> <short_desc>Pitch trim</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="TRIM_ROLL" default="0.0" type="FLOAT"> <parameter name="TRIM_ROLL" default="0.0" type="FLOAT">
<short_desc>Roll trim</short_desc> <short_desc>Roll trim</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="TRIM_YAW" default="0.0" type="FLOAT"> <parameter name="TRIM_YAW" default="0.0" type="FLOAT">
<short_desc>Yaw trim</short_desc> <short_desc>Yaw trim</short_desc>
<long_desc>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.</long_desc> <long_desc>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.</long_desc>
<min>-0.25</min> <min>-0.5</min>
<max>0.25</max> <max>0.5</max>
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
@ -10450,6 +10446,8 @@
<min>0.0</min> <min>0.0</min>
<max>20.0</max> <max>20.0</max>
<unit>s</unit> <unit>s</unit>
<decimal>1</decimal>
<increment>0.1</increment>
</parameter> </parameter>
<parameter name="VT_ELEV_MC_LOCK" default="1" type="INT32" boolean="true"> <parameter name="VT_ELEV_MC_LOCK" default="1" type="INT32" boolean="true">
<short_desc>Lock control surfaces in hover</short_desc> <short_desc>Lock control surfaces in hover</short_desc>
@ -10473,6 +10471,8 @@
<long_desc>Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.</long_desc> <long_desc>Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.</long_desc>
<min>0.0</min> <min>0.0</min>
<max>2.0</max> <max>2.0</max>
<decimal>2</decimal>
<increment>0.01</increment>
</parameter> </parameter>
<parameter name="VT_FW_DIFTHR_EN" default="0" type="INT32"> <parameter name="VT_FW_DIFTHR_EN" default="0" type="INT32">
<short_desc>Differential thrust in forwards flight</short_desc> <short_desc>Differential thrust in forwards flight</short_desc>
@ -10618,14 +10618,14 @@
<increment>0.1</increment> <increment>0.1</increment>
</parameter> </parameter>
<parameter name="VT_TILT_FW" default="1.0" type="FLOAT"> <parameter name="VT_TILT_FW" default="1.0" type="FLOAT">
<short_desc>Position of tilt servo in fw mode</short_desc> <short_desc>Normalized tilt in FW</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>3</decimal> <decimal>3</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="VT_TILT_MC" default="0.0" type="FLOAT"> <parameter name="VT_TILT_MC" default="0.0" type="FLOAT">
<short_desc>Position of tilt servo in mc mode</short_desc> <short_desc>Normalized tilt in Hover</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>3</decimal> <decimal>3</decimal>
@ -10639,8 +10639,8 @@
<decimal>2</decimal> <decimal>2</decimal>
<increment>0.01</increment> <increment>0.01</increment>
</parameter> </parameter>
<parameter name="VT_TILT_TRANS" default="0.3" type="FLOAT"> <parameter name="VT_TILT_TRANS" default="0.4" type="FLOAT">
<short_desc>Position of tilt servo in transition mode</short_desc> <short_desc>Normalized tilt in transition to FW</short_desc>
<min>0.0</min> <min>0.0</min>
<max>1.0</max> <max>1.0</max>
<decimal>3</decimal> <decimal>3</decimal>

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