From a732ca8b41c53afad79d13d8e1d25ab33f21e880 Mon Sep 17 00:00:00 2001 From: PX4BuildBot Date: Thu, 11 Jul 2019 16:01:59 +0000 Subject: [PATCH] Update PX4 Firmware metadata Thu Jul 11 16:01:59 UTC 2019 --- .../PX4/PX4ParameterFactMetaData.xml | 374 ++++++++---------- 1 file changed, 154 insertions(+), 220 deletions(-) diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 1f483424c..24047e610 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -2752,22 +2752,6 @@ Set to 0 to disable heading hold 1 0.5 - - Maximum ground speed - 0.0 - 40 - m/s - 1 - 0.5 - - - Trim ground speed - 0.0 - 40 - m/s - 1 - 0.5 - @@ -2831,209 +2815,6 @@ but also ignore less noise meters - - - Whether to scale throttle by battery power level - This compensates for voltage drop of the battery over time by attempting to normalize performance across the operating range of the battery. The fixed wing should constantly behave as if it was fully charged with reduced max thrust at lower battery percentages. i.e. if cruise speed is at 0.5 throttle at 100% battery, it will still be 0.5 at 60% battery. - - - - Groundspeed speed trim - This allows to scale the turning radius depending on the speed. - 0.0 - norm - 2 - 0.1 - - - Manual yaw scale - Scale factor applied to the desired yaw actuator command in full manual mode. This parameter allows to adjust the throws of the control surfaces. - 0.0 - norm - 2 - 0.01 - - - Speed proportional gain - This is the derivative gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - - - Speed Integral gain - This is the integral gain for the speed closed loop controller - 0.00 - 50.0 - %m/s - 3 - 0.005 - - - Speed integral maximum value - This is the maxim value the integral can reach to prevent wind-up. - 0.005 - 50.0 - %m/s - 3 - 0.005 - - - Speed proportional gain - This is the proportional gain for the speed closed loop controller - 0.005 - 50.0 - %m/s - 3 - 0.005 - - - Speed to throttle scaler - This is a gain to map the speed control output to the throttle linearly. - 0.005 - 50.0 - %m/s - 3 - 0.005 - - - Control mode for speed - This allows the user to choose between closed loop gps speed or open loop cruise throttle speed - 0 - 1 - - open loop control - close the loop with gps speed - - - - Wheel steering rate integrator gain - 0.00 - 30 - %/rad - 3 - 0.005 - - - Wheel steering rate feed forward - Direct feed forward from rate setpoint to control surface output - 0.0 - 10.0 - %/rad/s - 2 - 0.05 - - - Wheel steering rate integrator gain - This gain defines how much control response will result out of a steady state error. It trims any constant error. - 0.00 - 0.5 - %/rad - 3 - 0.005 - - - Wheel steering rate integrator limit - The portion of the integrator part in the control surface deflection is limited to this value - 0.0 - 1.0 - 2 - 0.05 - - - Wheel steering rate proportional gain - This defines how much the wheel steering input will be commanded depending on the current body angular rate error. - 0.005 - 1.0 - %/rad/s - 3 - 0.005 - - - Attitude Wheel Time Constant - This defines the latency between a steering step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. - 0.4 - 1.0 - s - 2 - 0.05 - - - Maximum wheel steering rate - This limits the maximum wheel steering rate the controller will output (in degrees per second). Setting a value of zero disables the limit. - 0.0 - 90.0 - deg/s - 1 - 0.5 - - - - - L1 damping - Damping factor for L1 control. - 0.6 - 0.9 - 2 - 0.05 - - - L1 distance - This is the waypoint radius - 0.0 - 100.0 - m - 1 - 0.1 - - - L1 period - This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation. - 0.0 - 50.0 - m - 1 - 0.5 - - - Cruise throttle - This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode - 0.0 - 1.0 - norm - 2 - 0.01 - - - Idle throttle - This is the minimum throttle while on the ground, it should be 0 for a rover - 0.0 - 0.4 - norm - 2 - 0.01 - - - Throttle limit max - This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough - 0.0 - 1.0 - norm - 2 - 0.01 - - - Throttle limit min - This is the minimum throttle % that can be used by the controller. Set to 0 for rover - 0.0 - 1.0 - norm - 2 - 0.01 - - Serial Configuration for Main GPS @@ -4029,12 +3810,13 @@ Used to calculate increased terrain random walk nosie due to movementYaw mode Specifies the heading in Auto. 0 - 3 + 4 towards waypoint towards home away from home along trajectory + towards waypoint (yaw first) @@ -7776,6 +7558,158 @@ the setpoint will be capped to MPC_XY_VEL_MAX + + + L1 damping + Damping factor for L1 control. + 0.6 + 0.9 + 2 + 0.05 + + + L1 distance + This is the waypoint radius + 0.0 + 100.0 + m + 1 + 0.1 + + + L1 period + This is the L1 distance and defines the tracking point ahead of the rover it's following. Using values around 2-5 for a traxxas stampede. Shorten slowly during tuning until response is sharp without oscillation. + 0.0 + 50.0 + m + 1 + 0.5 + + + Maximum turn angle for Ackerman steering. +At a control output of 0, the steering wheels are at 0 radians. +At a control output of 1, the steering wheels are at GND_MAX_ANG radians + 0.0 + 3.14159 + rad + 3 + 0.01 + + + Speed proportional gain + This is the derivative gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + + + Speed Integral gain + This is the integral gain for the speed closed loop controller + 0.00 + 50.0 + %m/s + 3 + 0.005 + + + Speed integral maximum value + This is the maxim value the integral can reach to prevent wind-up. + 0.005 + 50.0 + %m/s + 3 + 0.005 + + + Maximum ground speed + 0.0 + 40 + m/s + 1 + 0.5 + + + Speed proportional gain + This is the proportional gain for the speed closed loop controller + 0.005 + 50.0 + %m/s + 3 + 0.005 + + + Speed to throttle scaler + This is a gain to map the speed control output to the throttle linearly. + 0.005 + 50.0 + %m/s + 3 + 0.005 + + + Trim ground speed + 0.0 + 40 + m/s + 1 + 0.5 + + + Control mode for speed + This allows the user to choose between closed loop gps speed or open loop cruise throttle speed + 0 + 1 + + open loop control + close the loop with gps speed + + + + Cruise throttle + This is the throttle setting required to achieve the desired cruise speed. 10% is ok for a traxxas stampede vxl with ESC set to training mode + 0.0 + 1.0 + norm + 2 + 0.01 + + + Idle throttle + This is the minimum throttle while on the ground, it should be 0 for a rover + 0.0 + 0.4 + norm + 2 + 0.01 + + + Throttle limit max + This is the maximum throttle % that can be used by the controller. For a Traxxas stampede vxl with the ESC set to training, 30 % is enough + 0.0 + 1.0 + norm + 2 + 0.01 + + + Throttle limit min + This is the minimum throttle % that can be used by the controller. Set to 0 for rover + 0.0 + 1.0 + norm + 2 + 0.01 + + + Distance from front axle to rear axle + 0.0 + m + 3 + 0.01 + + Min. airspeed scaling factor for takeoff. -- 2.22.0