From 461d0561b8489f84def107cd6b044e8713ec698b Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Thu, 7 Jul 2022 11:19:12 +0300 Subject: [PATCH] replace FW_THR_CRUISE with FW_THR_TRIM Signed-off-by: RomanBapst --- .../init.d-posix/airframes/1030_plane | 2 +- .../init.d-posix/airframes/1037_believer | 2 +- .../init.d-posix/airframes/1038_glider | 2 +- .../init.d-posix/airframes/1040_standard_vtol | 2 +- .../init.d-posix/airframes/1041_tailsitter | 2 +- .../init.d-posix/airframes/1042_tiltrotor | 2 +- .../airframes/1043_standard_vtol_drop | 2 +- .../init.d-posix/airframes/17001_tf-g1 | 2 +- .../init.d/airframes/13005_vtol_AAERT_quad | 2 +- .../init.d/airframes/13008_QuadRanger | 2 +- .../init.d/airframes/13013_deltaquad | 2 +- .../init.d/airframes/13014_vtol_babyshark | 2 +- .../init.d/airframes/17002_TF-AutoG2 | 2 +- .../init.d/airframes/17003_TF-G2 | 2 +- .../init.d/airframes/3100_tbs_caipirinha | 2 +- src/lib/parameters/param_translation.cpp | 9 +++++++ .../FixedwingPositionControl.hpp | 2 +- .../fw_pos_control_l1_params.c | 24 +++---------------- src/modules/navigator/navigator_main.cpp | 2 +- 19 files changed, 29 insertions(+), 38 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane index b84da715cf..2627ceea60 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer index 1ad89de157..e477d3f138 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider b/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider index 27f6648911..d2f7fc8bb2 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1038_glider +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol index ff820bd50d..1b67a5fa66 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter index e5f809af74..ac62a455d4 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor index c2b4d10b94..22017105b2 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop b/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop index d4a274d2ba..cd4b5b90e2 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/1043_standard_vtol_drop +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 b/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 index 117041cae4..bc83aaad7d 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1 +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad b/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad index 8949f18f20..507b3e9ecf 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger b/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger index 94e2a1a913..eac5c973e0 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad index 394227a33f..7249fb29bb 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 14578b70f2..608038060a 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 b/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 index 8c847cbb44..3360e9cbb3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2 +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 index e677228cd8..d7c8b506f5 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2 +++ b/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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha b/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha index cc74225a12..694af0e14d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/3100_tbs_caipirinha +++ b/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 diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp index 740517852b..7eddfa9d31 100644 --- a/src/lib/parameters/param_translation.cpp +++ b/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; } diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp index a657ec2d20..df0c4000b0 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp @@ -685,7 +685,7 @@ private: (ParamFloat) _param_sinkrate_target, (ParamFloat) _param_fw_thr_alt_scl, - (ParamFloat) _param_fw_thr_cruise, + (ParamFloat) _param_fw_thr_trim, (ParamFloat) _param_fw_thr_idle, (ParamFloat) _param_fw_thr_lnd_max, (ParamFloat) _param_fw_thr_max, diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 76ec5ce013..9645a46165 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/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 diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 08d701562b..24b60c0b16 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/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;