From 57e6dcc8ff80482068b9ccea7979d2dcdd968462 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 12 Nov 2021 10:40:58 +0100 Subject: [PATCH] FW Position Control: improve Eco parameter description Signed-off-by: Silvan Fuhrer --- .../fw_pos_control_l1_params.c | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 6c38f300e555..9a22f6e2f2a6 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -896,7 +896,7 @@ PARAM_DEFINE_INT32(FW_SPD_MODE_SET, 0); * Eco/Dash mode is disabled if the current altitude overshoots the setpoint by this value. * * @min 1.0 - * @max 50.0 + * @max 100.0 * @decimal 1 * @increment 0.1 * @group FW TECS @@ -909,7 +909,7 @@ PARAM_DEFINE_FLOAT(FW_SPDM_ALT_ER_U, 10.f); * Eco/Dash mode is disabled if the current altitude undershoots the setpoint by this value. * * @min 1.0 - * @max 50.0 + * @max 100.0 * @decimal 1 * @increment 0.1 * @group FW TECS @@ -932,6 +932,12 @@ PARAM_DEFINE_FLOAT(FW_SPDM_ALT_MIN, 50.f); /** * Speed <--> Altitude priority in Eco mode * + * Overrides FW_T_SPDWEIGHT in Eco mode. + * + * Set it close to 2 for looser altitude control. + * That helps increasing power efficiency by having a smoother throttle setpoint, plus + * it enables the vehicle to exploit favorable local uplift conditions to gain some altitude. + * * @min 0.0 * @max 2.0 * @decimal 1 @@ -943,7 +949,11 @@ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT_E, 1.8f); /** * Eco Mode: Altitude error time constant. * - * Normally larger than FW_T_ALT_TC to have looser altitude control and in turn less throttle changes. + * Overrides FW_T_ALT_TC in Eco mode. + * + * Increase it for looser altitude control. + * That helps increasing power efficiency by having a smoother throttle setpoint, plus + * it enables the vehicle to exploit favorable local uplift conditions to gain some altitude. * * @min 2.0 * @decimal 1 @@ -955,6 +965,8 @@ PARAM_DEFINE_FLOAT(FW_T_ALT_TC_E, 10.0f); /** * Eco target climbrate. * + * Overrides FW_T_CLMB_R_SP in Eco mode. + * * The rate at which the vehicle will climb in autonomous modes to achieve altitude setpoints in Eco mode. * * @unit m/s