From 2d186f2a05184dfde0c172cedac52cabcb6177e9 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Tue, 6 Nov 2018 21:26:15 +0000 Subject: [PATCH] Update PX4 Firmware metadata Tue Nov 6 21:26:15 UTC 2018 --- .../PX4/PX4ParameterFactMetaData.xml | 50 +++++++++++++------ 1 file changed, 34 insertions(+), 16 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index bdeda080b..8c45b288f 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -4440,6 +4440,16 @@ the vehicle will accelerate at this rate until the normal position control speed Terrain hold + + Auto sub-mode + The supported sub-modes are: 0 Direct line tracking, no smoothing 1 Not used 2 Not used 3 Jerk-limited trajectory + + Default line tracking + N/A + N/A + Jerk-limited trajectory + + Cruise speed when angle prev-current/current-next setpoint is 90 degrees. It should be lower than MPC_XY_CRUISE @@ -4485,23 +4495,20 @@ is 90 degrees. It should be lower than MPC_XY_CRUISE 10 sec - - Maximum jerk in manual controlled mode for BRAKING to zero. -If this value is below MPC_JERK_MIN, the acceleration limit in xy and z -is MPC_ACC_HOR_MAX and MPC_ACC_UP_MAX respectively instantaneously when the -user demands brake (=zero stick input). -Otherwise the acceleration limit increases from current acceleration limit -towards MPC_ACC_HOR_MAX/MPC_ACC_UP_MAX with jerk limit - 0.0 - 15.0 + + Maximum jerk limit + Limit the maximum jerk of the vehicle (how fast the acceleration can change). A lower value leads to smoother vehicle motions, but it also limits its agility (how fast it can change directions or break). Setting this to the maximum value essentially disables the limit. Note: this is only used when MPC_POS_MODE is set to a smoothing mode. + 0.5 + 500.0 m/s/s/s 2 1 - - Minimum jerk in manual controlled mode for BRAKING to zero - 0.5 - 10.0 + + Velocity-based jerk limit + If this is not zero, a velocity-based maximum jerk limit is used: the applied jerk limit linearly increases with the vehicle's velocity between MPC_JERK_MIN (zero velocity) and MPC_JERK_MAX (maximum velocity). This means that the vehicle's motions are smooth for low velocities, but still allows fast direction changes or breaking at higher velocities. Set this to zero to use a fixed maximum jerk limit (MPC_JERK_MAX). Note: this is only used when MPC_POS_MODE is set to a smoothing mode. + 0 + 30.0 m/s/s/s 2 1 @@ -4558,13 +4565,12 @@ Temporary Parameter to enable interface testing Manual-Position control sub-mode - The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) - 0 - 2 + The supported sub-modes are: 0 Default position control where sticks map to position/velocity directly. Maximum speeds is MPC_VEL_MANUAL. 1 Smooth position control where setpoints are adjusted based on acceleration limits and jerk limits. 2 Sport mode that is the same Default position control but with velocity limits set to the maximum allowed speeds (MPC_XY_VEL_MAX) 3 Smooth position control with maximum acceleration and jerk limits (different algorithm than 1). Default position control Smooth position control Sport position control + Smooth position control (Velocity) @@ -4670,6 +4676,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX 2.0 2 + + Proportional gain for horizontal trajectory position error + 0.1 + 5.0 + 1 + Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again 0.005 @@ -4718,6 +4730,12 @@ the setpoint will be capped to MPC_XY_VEL_MAX 1.5 2 + + Proportional gain for vertical trajectory position error + 0.1 + 5.0 + 1 + Differential gain for vertical velocity error 0.0 -- 2.22.0