FW Position control: clean up param descriptions

Mostly to save flash, but also to improve generally.

Signed-off-by: Silvan Fuhrer <[email protected]>

src/lib/fw_performance_model/PerformanceModel.hpp

@@ -131,7 +131,6 @@ class PerformanceModel : public ModuleParams
 		(ParamFloat<px4::params::WEIGHT_GROSS>) _param_weight_gross,
 		(ParamFloat<px4::params::FW_SERVICE_CEIL>) _param_service_ceiling,
 		(ParamFloat<px4::params::FW_THR_TRIM>) _param_fw_thr_trim,
-		(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
 		(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
 		(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
 		(ParamFloat<px4::params::FW_THR_ASPD_MIN>) _param_fw_thr_aspd_min,

src/modules/fw_pos_control/fw_path_navigation_params.c

@@ -256,9 +256,6 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
  * Usually set to 0 but can be increased to prevent the motor from stopping when
  * descending, which can increase achievable descent rates.
  *
- * For aircraft with internal combustion engine this parameter should be set
- * for desired idle rpm.
- *
  * @unit norm
  * @min 0.0
  * @max 1.0
@@ -271,13 +268,7 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
 /**
  * Idle throttle
  *
- * This is the minimum throttle while on the ground
- *
- * For aircraft with internal combustion engines, this parameter should be set
- * above the desired idle rpm. For electric motors, idle should typically be set
- * to zero.
- *
- * Note that in automatic modes, "landed" conditions will engage idle throttle.
+ * This is the minimum throttle while on the ground ("landed") in auto modes.
  *
  * @unit norm
  * @min 0.0
@@ -344,7 +335,9 @@ PARAM_DEFINE_FLOAT(FW_TKO_AIRSPD, -1.0f);
 PARAM_DEFINE_FLOAT(FW_LND_FLALT, 0.5f);
 
 /**
- * Use terrain estimation during landing. This is critical for detecting when to flare, and should be enabled if possible.
+ * Use terrain estimation during landing.
+ *
+ * This is critical for detecting when to flare, and should be enabled if possible.
  *
  * NOTE: terrain estimate is currently solely derived from a distance sensor.
  *
@@ -423,8 +416,7 @@ PARAM_DEFINE_FLOAT(FW_LND_AIRSPD, -1.f);
 /**
  * Altitude time constant factor for landing
  *
- * Set this parameter to less than 1.0 to make TECS react faster to altitude errors during
- * landing than during normal flight. During landing, the TECS
+ * During landing, the TECS
  * altitude time constant (FW_T_ALT_TC) is multiplied by this value.
  *
  * @unit
@@ -445,10 +437,6 @@ PARAM_DEFINE_FLOAT(FW_LND_THRTC_SC, 1.0f);
  * Maximum descent rate
  *
  * This sets the maximum descent rate that the controller will use.
- * If this value is too large, the aircraft can over-speed on descent.
- * This should be set to a value that can be achieved without
- * exceeding the lower pitch angle limit and without over-speeding
- * the aircraft.
  *
  * @unit m/s
  * @min 1.0
@@ -508,9 +496,7 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
  *
  * This is the maximum vertical acceleration (in m/s/s)
  * either up or down that the controller will use to correct speed
- * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g)
- * allows for reasonably aggressive pitch changes if required to recover
- * from under-speed conditions.
+ * or height errors.
  *
  * @unit m/s^2
  * @min 1.0
@@ -522,9 +508,9 @@ PARAM_DEFINE_FLOAT(FW_T_I_GAIN_PIT, 0.1f);
 PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 
 /**
- * Airspeed measurement standard deviation for airspeed filter.
+ * Airspeed measurement standard deviation
  *
- * This is the measurement standard deviation for the airspeed used in the airspeed filter in TECS.
+ * For the airspeed filter in TECS.
  *
  * @unit m/s
  * @min 0.01
@@ -536,9 +522,9 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f);
 PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f);
 
 /**
- * Airspeed rate measurement standard deviation for airspeed filter.
+ * Airspeed rate measurement standard deviation
  *
- * This is the measurement standard deviation for the airspeed rate used in the airspeed filter in TECS.
+ * For the airspeed filter in TECS.
  *
  * @unit m/s^2
  * @min 0.01
@@ -550,9 +536,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f);
 PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f);
 
 /**
- * Process noise standard deviation for the airspeed rate in the airspeed filter.
+ * Process noise standard deviation for the airspeed rate
  *
- * This is the process noise standard deviation in the airspeed filter filter defining the noise in the
+ * This is the process noise standard deviation in the airspeed filter in TECS defining the noise in the
  * airspeed rate for the constant airspeed rate model. This is used to define how much the airspeed and
  * the airspeed rate are filtered. The smaller the value the more the measurements are smoothed with the
  * drawback for delays.
@@ -570,14 +556,9 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_PRC_STD, 0.2f);
 /**
  * Roll -> Throttle feedforward
  *
- * Increasing this gain turn increases the amount of throttle that will
- * be used to compensate for the additional drag created by turning.
- * Ideally this should be set to  approximately 10 x the extra sink rate
- * in m/s created by a 45 degree bank turn. Increase this gain if
- * the aircraft initially loses energy in turns and reduce if the
- * aircraft initially gains energy in turns. Efficient high aspect-ratio
- * aircraft (eg powered sailplanes) can use a lower value, whereas
- * inefficient low aspect-ratio models (eg delta wings) can use a higher value.
+ * Is used to compensate for the additional drag created by turning.
+ * Increase this gain if the aircraft initially loses energy in turns
+ * and reduce if the aircraft initially gains energy in turns.
  *
  * @min 0.0
  * @max 20.0
@@ -592,11 +573,9 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 15.0f);
  *
  * This parameter adjusts the amount of weighting that the pitch control
  * applies to speed vs height errors. Setting it to 0.0 will cause the
- * pitch control to control height and ignore speed errors. This will
- * normally improve height accuracy but give larger airspeed errors.
+ * pitch control to control height and ignore speed errors.
  * Setting it to 2.0 will cause the pitch control loop to control speed
- * and ignore height errors. This will normally reduce airspeed errors,
- * but give larger height errors. The default value of 1.0 allows the pitch
+ * and ignore height errors. The default value of 1.0 allows the pitch
  * control to simultaneously control height and speed.
  * Set to 2 for gliders.
  *
@@ -635,7 +614,10 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.1f);
 PARAM_DEFINE_FLOAT(FW_T_ALT_TC, 5.0f);
 
 /**
- * Minimum altitude error needed to descend with max airspeed. A negative value disables fast descend.
+ * Fast descend: minimum altitude error
+ *
+ * Minimum altitude error needed to descend with max airspeed and minimal throttle.
+ * A negative value disables fast descend.
  *
  * @min -1.0
  * @decimal 0
@@ -680,9 +662,9 @@ PARAM_DEFINE_FLOAT(FW_T_TAS_TC, 5.0f);
 PARAM_DEFINE_FLOAT(FW_GND_SPD_MIN, 5.0f);
 
 /**
- * RC stick configuration fixed-wing.
+ * RC stick configuration fixed-wing
  *
- * Set RC/joystick configuration for fixed-wing manual position and altitude controlled flight.
+ * Applies in manual Position and Altitude flight modes.
  *
  * @min 0
  * @max 3