Update PX4 Firmware metadata Tue Apr 28 09:10:05 UTC 2020

src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml

@@ -10802,9 +10802,9 @@ tailsitter, tiltrotor: main throttle</short_desc>
       <increment>0.01</increment>
     </parameter>
     <parameter default="5.0" name="VT_DWN_PITCH_MAX" type="FLOAT">
-      <short_desc>Maximum allowed down-pitch the controller is able to demand. This prevents large, negative
-lift values being created when facing strong winds. The vehicle will use the pusher motor
-to accelerate forward if necessary</short_desc>
+      <short_desc>Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
+when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
+If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead</short_desc>
       <min>0.0</min>
       <max>45.0</max>
     </parameter>
@@ -10812,9 +10812,24 @@ to accelerate forward if necessary</short_desc>
       <short_desc>Lock elevons in multicopter mode</short_desc>
       <long_desc>If set to 1 the elevons are locked in multicopter mode</long_desc>
     </parameter>
-    <parameter default="0.0" name="VT_FWD_THRUST_SC" type="FLOAT">
-      <short_desc>Fixed wing thrust scale for hover forward flight</short_desc>
-      <long_desc>Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode. This technique can be used to avoid the plane having to pitch down a lot in order to move forward. Setting this value to 0 (default) will disable this strategy.</long_desc>
+    <parameter default="0" name="VT_FWD_THRUST_EN" type="INT32">
+      <short_desc>Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
+This technique can be used to avoid the plane having to pitch down in order to move forward.
+This prevents large, negative lift values being created when facing strong winds.
+Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
+Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
+demanded down pitch to fixed-wing actuation</short_desc>
+      <values>
+        <value code="0">Disable FW forward actuation in hover.</value>
+        <value code="1">Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).</value>
+        <value code="2">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.</value>
+        <value code="3">Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.</value>
+        <value code="4">Enable FW forward actuation in hover in altitude, position and auto modes.</value>
+      </values>
+    </parameter>
+    <parameter default="0.7" name="VT_FWD_THRUST_SC" type="FLOAT">
+      <short_desc>Fixed-wing actuator thrust scale for hover forward flight</short_desc>
+      <long_desc>Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Only active if demaded down pitch is above VT_DWN_PITCH_MAX. Enabled via VT_FWD_THRUST_EN.</long_desc>
       <min>0.0</min>
       <max>2.0</max>
     </parameter>