Parameters for the standard VTOL controller. More...

Functions
	PARAM_DEFINE_FLOAT (VT_DWN_PITCH_MAX, 5.0f)
	Maximum allowed down-pitch the controller is able to demand. More...

	PARAM_DEFINE_FLOAT (VT_FWD_THRUST_SC, 0.0f)
	Fixed wing thrust scale for hover forward flight. More...

	PARAM_DEFINE_FLOAT (VT_B_TRANS_RAMP, 3.0f)
	Back transition MC motor ramp up time. More...

	PARAM_DEFINE_FLOAT (VT_B_REV_OUT, 0.0f)
	Output on airbrakes channel during back transition Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel Airbrakes need to be enables for your selected model/mixer. More...

	PARAM_DEFINE_FLOAT (VT_B_REV_DEL, 0.0f)
	Delay in seconds before applying back transition throttle Set this to a value greater than 0 to give the motor time to spin down. More...

	PARAM_DEFINE_FLOAT (VT_PSHER_RMP_DT, 3.0f)
	Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition to fixed wing mode. More...

Detailed Description

Parameters for the standard VTOL controller.

Author: Simon Wilks simon.nosp@m.@uav.nosp@m.entur.nosp@m.e.co.nosp@m.m; Roman Bapst roman.nosp@m.@px4.nosp@m..io

Function Documentation

§ PARAM_DEFINE_FLOAT() [1/6]

PARAM_DEFINE_FLOAT	(	VT_DWN_PITCH_MAX	,
		5.	0f
	)

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.

0.0 45.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [2/6]

PARAM_DEFINE_FLOAT	(	VT_FWD_THRUST_SC	,
		0.	0f
	)

Fixed wing thrust scale for hover forward flight.

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. 0.0 2.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [3/6]

PARAM_DEFINE_FLOAT	(	VT_B_TRANS_RAMP	,
		3.	0f
	)

Back transition MC motor ramp up time.

This sets the duration during which the MC motors ramp up to the commanded thrust during the back transition stage.

s 0.0 20.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [4/6]

PARAM_DEFINE_FLOAT	(	VT_B_REV_OUT	,
		0.	0f
	)

Output on airbrakes channel during back transition Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel Airbrakes need to be enables for your selected model/mixer.

0 1 0.01 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [5/6]

PARAM_DEFINE_FLOAT	(	VT_B_REV_DEL	,
		0.	0f
	)

Delay in seconds before applying back transition throttle Set this to a value greater than 0 to give the motor time to spin down.

unit s 0 10 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [6/6]

PARAM_DEFINE_FLOAT	(	VT_PSHER_RMP_DT	,
		3.	0f
	)

Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition to fixed wing mode.

Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.

20 0.01 2 VTOL Attitude Control

Functions