Parameters for vtol attitude controller. More...

Functions
	PARAM_DEFINE_INT32 (VT_MOT_COUNT, 0)
	VTOL number of engines. More...

	PARAM_DEFINE_INT32 (VT_IDLE_PWM_MC, 900)
	Idle speed of VTOL when in multicopter mode. More...

	PARAM_DEFINE_INT32 (VT_FW_PERM_STAB, 0)
	Permanent stabilization in fw mode. More...

	PARAM_DEFINE_INT32 (VT_TYPE, 0)
	VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) More...

	PARAM_DEFINE_INT32 (VT_ELEV_MC_LOCK, 1)
	Lock elevons in multicopter mode. More...

	PARAM_DEFINE_FLOAT (VT_F_TRANS_DUR, 5.0f)
	Duration of a front transition. More...

	PARAM_DEFINE_FLOAT (VT_B_TRANS_DUR, 4.0f)
	Duration of a back transition. More...

	PARAM_DEFINE_FLOAT (VT_F_TRANS_THR, 1.0f)
	Target throttle value for the transition to fixed wing flight. More...

	PARAM_DEFINE_FLOAT (VT_B_TRANS_THR, 0.0f)
	Target throttle value for the transition to hover flight. More...

	PARAM_DEFINE_FLOAT (VT_B_DEC_MSS, 2.0f)
	Approximate deceleration during back transition. More...

	PARAM_DEFINE_FLOAT (VT_ARSP_BLEND, 8.0f)
	Transition blending airspeed. More...

	PARAM_DEFINE_FLOAT (VT_ARSP_TRANS, 10.0f)
	Transition airspeed. More...

	PARAM_DEFINE_FLOAT (VT_TRANS_TIMEOUT, 15.0f)
	Front transition timeout. More...

	PARAM_DEFINE_FLOAT (VT_TRANS_MIN_TM, 2.0f)
	Front transition minimum time. More...

	PARAM_DEFINE_FLOAT (VT_FW_MIN_ALT, 0.0f)
	QuadChute Altitude. More...

	PARAM_DEFINE_FLOAT (VT_FW_ALT_ERR, 0.0f)
	Adaptive QuadChute. More...

	PARAM_DEFINE_INT32 (VT_FW_QC_P, 0)
	QuadChute Max Pitch. More...

	PARAM_DEFINE_INT32 (VT_FW_QC_R, 0)
	QuadChute Max Roll. More...

	PARAM_DEFINE_FLOAT (VT_F_TR_OL_TM, 6.0f)
	Airspeed less front transition time (open loop) More...

	PARAM_DEFINE_INT32 (VT_FW_MOT_OFFID, 0)
	The channel number of motors that must be turned off in fixed wing mode. More...

	PARAM_DEFINE_INT32 (VT_FW_DIFTHR_EN, 0)
	Differential thrust in forwards flight. More...

	PARAM_DEFINE_FLOAT (VT_FW_DIFTHR_SC, 0.1f)
	Differential thrust scaling factor. More...

	PARAM_DEFINE_INT32 (V19_VT_ROLLDIR, 1)

Detailed Description

Parameters for vtol attitude controller.

Author: Roman Bapst roman.nosp@m.@px4.nosp@m..io; Sander Smeets sande.nosp@m.r@dr.nosp@m.onesl.nosp@m.ab.c.nosp@m.om

Function Documentation

§ PARAM_DEFINE_FLOAT() [1/13]

PARAM_DEFINE_FLOAT	(	VT_F_TRANS_DUR	,
		5.	0f
	)

Duration of a front transition.

Time in seconds used for a transition

s 0.00 20.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [2/13]

PARAM_DEFINE_FLOAT	(	VT_B_TRANS_DUR	,
		4.	0f
	)

Duration of a back transition.

Time in seconds used for a back transition

s 0.00 20.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [3/13]

PARAM_DEFINE_FLOAT	(	VT_F_TRANS_THR	,
		1.	0f
	)

Target throttle value for the transition to fixed wing flight.

standard vtol: pusher tailsitter, tiltrotor: main throttle

0.0 1.0 0.01 3 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [4/13]

PARAM_DEFINE_FLOAT	(	VT_B_TRANS_THR	,
		0.	0f
	)

Target throttle value for the transition to hover flight.

standard vtol: pusher tailsitter, tiltrotor: main throttle

Note for standard vtol: For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking

-1 1 0.01 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [5/13]

PARAM_DEFINE_FLOAT	(	VT_B_DEC_MSS	,
		2.	0f
	)

Approximate deceleration during back transition.

The approximate deceleration during a back transition in m/s/s Used to calculate back transition distance in mission mode. A lower value will make the VTOL transition further from the destination waypoint.

m/s/s 0.00 20.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [6/13]

PARAM_DEFINE_FLOAT	(	VT_ARSP_BLEND	,
		8.	0f
	)

Transition blending airspeed.

Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable.

m/s 0.00 30.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [7/13]

PARAM_DEFINE_FLOAT	(	VT_ARSP_TRANS	,
		10.	0f
	)

Transition airspeed.

Airspeed at which we can switch to fw mode

m/s 0.00 30.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [8/13]

PARAM_DEFINE_FLOAT	(	VT_TRANS_TIMEOUT	,
		15.	0f
	)

Front transition timeout.

Time in seconds after which transition will be cancelled. Disabled if set to 0.

s 0.00 30.00 1 2 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [9/13]

PARAM_DEFINE_FLOAT	(	VT_TRANS_MIN_TM	,
		2.	0f
	)

Front transition minimum time.

Minimum time in seconds for front transition.

s 0.0 20.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [10/13]

PARAM_DEFINE_FLOAT	(	VT_FW_MIN_ALT	,
		0.	0f
	)

QuadChute Altitude.

Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude the vehicle will transition back to MC mode and enter failsafe RTL 0.0 200.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [11/13]

PARAM_DEFINE_FLOAT	(	VT_FW_ALT_ERR	,
		0.	0f
	)

Adaptive QuadChute.

Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint the vehicle will transition back to MC mode and enter failsafe RTL. 0.0 200.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [12/13]

PARAM_DEFINE_FLOAT	(	VT_F_TR_OL_TM	,
		6.	0f
	)

Airspeed less front transition time (open loop)

The duration of the front transition when there is no airspeed feedback available.

seconds 1.0 30.0 VTOL Attitude Control

§ PARAM_DEFINE_FLOAT() [13/13]

PARAM_DEFINE_FLOAT	(	VT_FW_DIFTHR_SC	,
		0.	1f
	)

Differential thrust scaling factor.

This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.

0.0 1.0 2 0.1 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [1/9]

PARAM_DEFINE_INT32	(	VT_MOT_COUNT	,
		0
	)

VTOL number of engines.

0 8 1 0 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [2/9]

PARAM_DEFINE_INT32	(	VT_IDLE_PWM_MC	,
		900
	)

Idle speed of VTOL when in multicopter mode.

us 900 2000 1 0 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [3/9]

PARAM_DEFINE_INT32	(	VT_FW_PERM_STAB	,
		0
	)

Permanent stabilization in fw mode.

If set to one this parameter will cause permanent attitude stabilization in fw mode. This parameter has been introduced for pure convenience sake.

VTOL Attitude Control

§ PARAM_DEFINE_INT32() [4/9]

PARAM_DEFINE_INT32	(	VT_TYPE	,
		0
	)

VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)

0 Tailsitter 1 Tiltrotor 2 Standard 0 2 0 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [5/9]

PARAM_DEFINE_INT32	(	VT_ELEV_MC_LOCK	,
		1
	)

Lock elevons in multicopter mode.

If set to 1 the elevons are locked in multicopter mode

VTOL Attitude Control

§ PARAM_DEFINE_INT32() [6/9]

PARAM_DEFINE_INT32	(	VT_FW_QC_P	,
		0
	)

QuadChute Max Pitch.

Maximum pitch angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL 0 180 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [7/9]

PARAM_DEFINE_INT32	(	VT_FW_QC_R	,
		0
	)

QuadChute Max Roll.

Maximum roll angle before QuadChute engages Above this the vehicle will transition back to MC mode and enter failsafe RTL 0 180 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [8/9]

PARAM_DEFINE_INT32	(	VT_FW_MOT_OFFID	,
		0
	)

The channel number of motors that must be turned off in fixed wing mode.

0 12345678 1 0 VTOL Attitude Control

§ PARAM_DEFINE_INT32() [9/9]

PARAM_DEFINE_INT32	(	VT_FW_DIFTHR_EN	,
		0
	)

Differential thrust in forwards flight.

Set to 1 to enable differential thrust in fixed-wing flight.

0 1 0 VTOL Attitude Control

Functions