From 4922659ef4c890e3c307c46092e62a774b8180bb Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 18 Jan 2021 23:00:26 +0100 Subject: [PATCH] FW Position controller: specify in params that the airspeed setpoints are for calibrated airspeed Signed-off-by: Silvan Fuhrer --- .../fw_pos_control_l1/fw_pos_control_l1_params.c | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) 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 60af33bf55..6d988bc9be 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 @@ -418,9 +418,9 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f); /** - * Minimum Airspeed + * Minimum Airspeed (CAS) * - * If the airspeed falls below this value, the TECS controller will try to + * If the CAS (calibrated airspeed) falls below this value, the TECS controller will try to * increase airspeed more aggressively. * * @unit m/s @@ -433,9 +433,9 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f); PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); /** - * Maximum Airspeed + * Maximum Airspeed (CAS) * - * If the airspeed is above this value, the TECS controller will try to decrease + * If the CAS (calibrated airspeed) is above this value, the TECS controller will try to decrease * airspeed more aggressively. * * @unit m/s @@ -448,9 +448,11 @@ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 10.0f); PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 20.0f); /** - * Cruise Airspeed + * Cruise Airspeed (CAS) * - * The fixed wing controller tries to fly at this 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 if + * no other airspeed setpoint sources are present (e.g. through non-centered RC sticks). * * @unit m/s * @min 0.0