tiltrotor_params.c
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file tiltrotor_params.c
* Parameters for vtol attitude controller.
*
* @author Roman Bapst <roman@px4.io>
*/
/**
* Position of tilt servo in mc mode
*
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f);
/**
* Position of tilt servo in transition mode
*
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f);
/**
* Position of tilt servo in fw mode
*
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
/**
* Tilt actuator control value commanded when disarmed and during the first second after arming.
*
* This specific tilt during spin-up is necessary for some systems whose motors otherwise don't
* spin-up freely.
*
* @min 0.0
* @max 1.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f);
/**
* Duration of front transition phase 2
*
* Time in seconds it should take for the rotors to rotate forward completely from the point
* when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
*
* @unit s
* @min 0.1
* @max 5.0
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);