replace FW_THR_CRUISE with FW_THR_TRIM

Signed-off-by: RomanBapst <bapstroman@gmail.com>

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -29,7 +29,7 @@ param set-default FW_SPOILERS_LND 0.4
 
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 
 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -27,7 +27,7 @@ param set-default FW_RR_P 0.3
 
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 
 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8

ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider

@@ -5,5 +5,5 @@
 
 . ${R}etc/init.d-posix/airframes/1030_plane
 
-param set-default FW_THR_CRUISE 0.0
+param set-default FW_THR_TRIM 0.0
 param set-default RWTO_TKOFF 0

ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol

@@ -57,7 +57,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -51,7 +51,7 @@ param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_TRIM 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2

ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor

@@ -64,7 +64,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_TRIM 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8

ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop

@@ -16,7 +16,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -41,7 +41,7 @@ param set-default FW_R_LIM 30
 param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0
 
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_CRUISE 0.75
+param set-default FW_THR_TRIM 0.75
 
 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults
 
 
-param set-default FW_THR_CRUISE 65
+param set-default FW_THR_TRIM 65
 param set-default FW_RR_FF 0.6
 
 param set-default MIS_YAW_TMT 10

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -53,7 +53,7 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
+param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -39,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 
 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 
 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25

ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha

@@ -40,7 +40,7 @@ param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
 param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
+param set-default FW_THR_TRIM 0.55
 
 param set-default LNDFW_AIRSPD_MAX 6
 param set-default LNDFW_XYACC_MAX 4

src/lib/parameters/param_translation.cpp

@@ -246,5 +246,14 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2022-07-07: translate FW_THR_CRUISE->FW_THR_TRIM
+	{
+		if (strcmp("FW_THR_CRUISE", node->name) == 0) {
+			strcpy(node->name, "FW_THR_TRIM");
+			PX4_INFO("copying %s -> %s", "FW_THR_CRUISE", "FW_THR_TRIM");
+			return true;
+		}
+	}
+
 	return false;
 }

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -685,7 +685,7 @@ private:
 		(ParamFloat<px4::params::FW_T_SINK_R_SP>) _param_sinkrate_target,
 
 		(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
-		(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,
+		(ParamFloat<px4::params::FW_THR_TRIM>) _param_fw_thr_trim,
 		(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
 		(ParamFloat<px4::params::FW_THR_LND_MAX>) _param_fw_thr_lnd_max,
 		(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,

src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c

@@ -230,9 +230,9 @@ PARAM_DEFINE_FLOAT(NPFG_SW_DST_MLT, 0.32f);
 PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
 
 /**
- * Cruise throttle
+ * Trim throttle
  *
- * This is the throttle setting required to achieve the desired cruise speed. Most airframes have a value of 0.5-0.7.
+ * This is the throttle setting required to achieve FW_AIRSPD_TRIM during level flight. Most airframes have a value of 0.5-0.7.
  *
  * @unit norm
  * @min 0.0
@@ -241,25 +241,7 @@ PARAM_DEFINE_FLOAT(NPFG_PERIOD_SF, 1.5f);
  * @increment 0.01
  * @group FW L1 Control
  */
-PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
-
-/**
- * Scale throttle by pressure change
- *
- * Automatically adjust throttle to account for decreased air density at higher altitudes.
- * Start with a scale factor of 1.0 and adjust for different propulsion systems.
- *
- * When flying without airspeed sensor this will help to keep a constant performance over large altitude ranges.
- *
- * The default value of 0 will disable scaling.
- *
- * @min 0.0
- * @max 10.0
- * @decimal 1
- * @increment 0.1
- * @group FW L1 Control
- */
-PARAM_DEFINE_FLOAT(FW_THR_ALT_SCL, 0.0f);
+PARAM_DEFINE_FLOAT(FW_THR_TRIM, 0.6f);
 
 /**
  * Throttle max slew rate

src/modules/navigator/navigator_main.cpp

@@ -1074,7 +1074,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
 
 float Navigator::get_cruising_throttle()
 {
-	/* Return the mission-requested cruise speed, or default FW_THR_CRUISE value */
+	/* Return the mission-requested cruise speed, or default FW_THR_TRIM value */
 	if (_mission_throttle > FLT_EPSILON) {
 		return _mission_throttle;