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improved GCS parameter readablity #3287

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Aug 20, 2024
Merged

improved GCS parameter readablity #3287

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Claudio-Chies Jul 12, 2024
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2 changes: 1 addition & 1 deletion en/computer_vision/collision_prevention.md
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Expand Up @@ -46,7 +46,7 @@ Configure collision prevention by [setting the following parameters](../advanced
| <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. |
| <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG) | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below. |
| <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`). |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Set to 0 or 3 to enable Collision Prevention in Position Mode (default is 4). |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Set to `Direct velocity` or `Smoothed velocity` to enable Collision Prevention in Position Mode (default is `Acceleration based`). |

## Algorithm Description

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2 changes: 1 addition & 1 deletion en/config_mc/mc_jerk_limited_type_trajectory.md
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Expand Up @@ -4,7 +4,7 @@ The Jerk-limited trajectory type provides smooth motion in response to user stic
It generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.

This trajectory type is always enabled in [Mission mode](../flight_modes_mc/mission.md).
To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter: [MPC_POS_MODE=3](../advanced_config/parameter_reference.md#MPC_POS_MODE).
To enable it in [Position mode](../flight_modes_mc/position.md) set the parameter [MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) to `Smoothed velocity`.

::: info
The jerk-limited type is not used _by default_ in position mode.
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10 changes: 5 additions & 5 deletions en/config_mc/mc_trajectory_tuning.md
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Expand Up @@ -53,24 +53,24 @@ The following list provides an _overview_ of the different implementations of ho
- Intuitive stick feel because it's like pushing the vehicle around.
- No unexpected tilt changes upon reaching travel speed velocity.
- Vertical stick input mapped with jerk-limited trajectory.
- Set in position mode using `MPC_POS_MODE=4`.
- Set in position mode using `MPC_POS_MODE=Acceleration based`.
- [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
- Used when smooth motion is required (e.g.: filming, mapping, cargo).
- Generates symmetric smooth S-curves where the jerk and acceleration limits are always guaranteed.
- May not be suitable for vehicles/use-cases that require a faster response - e.g. race quads.
- Set in position mode using `MPC_POS_MODE=3`.
- Set in position mode using `MPC_POS_MODE=Smoothed velocity`.
- **Simple position control**
- Sticks map directly to velocity setpoints without smoothing.
- Useful for velocity control tuning.
- Set in position mode using `MPC_POS_MODE=0`.
- Set in position mode using `MPC_POS_MODE=Direct velocity`.

## Altitude Mode Implementations

Analogously to [position mode implementations](#position-mode-implementations) these are the implementations for interpreting vertical stick input:

- [Jerk-limited](../config_mc/mc_jerk_limited_type_trajectory.md)
- Smoothed vertical input.
- Set in altitude mode with `MPC_POS_MODE` 3 or 4.
- Set in altitude mode with `MPC_POS_MODE` Smoothed velocity or Acceleration based.
- **Simple altitude control**
- Unsmoothed vertical input.
- Set in altitude mode only when using `MPC_POS_MODE=0`.
- Set in altitude mode only when using `MPC_POS_MODE=Direct velocity`.
2 changes: 1 addition & 1 deletion en/flight_modes_mc/position.md
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Expand Up @@ -69,7 +69,7 @@ All the parameters in the [Multicopter Position Control](../advanced_config/para
| <a id="MPC_LAND_ALT2"></a>[MPC_LAND_ALT2](../advanced_config/parameter_reference.md#MPC_LAND_ALT2) | Altitude for second phase of slow landing. Below this altitude descending velocity gets limited to [`MPC_LAND_SPEED`](#MPC_LAND_SPEED). Value needs to be lower than "MPC_LAND_ALT1". Default 5m. |
| <a id="RCX_DZ"></a>`RCX_DZ` | RC dead zone for channel X. The value of X for throttle will depend on the value of [RC_MAP_THROTTLE](../advanced_config/parameter_reference.md#RC_MAP_THROTTLE). For example, if the throttle is channel 4 then [RC4_DZ](../advanced_config/parameter_reference.md#RC4_DZ) specifies the deadzone. |
| <a id="MPC_xxx"></a>`MPC_XXXX` | Most of the MPC_xxx parameters affect flight behaviour in this mode (at least to some extent). For example, [MPC_THR_HOVER](../advanced_config/parameter_reference.md#MPC_THR_HOVER) defines the thrust at which a vehicle will hover. |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Stick input to movement translation strategy. From PX4 v1.12 the default (4) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Stick input to movement translation strategy. From PX4 v1.12 the default (`Acceleration based`) is that stick position controls acceleration (in a similar way to a car accelerator pedal). Other options allow stick deflection to directly control speed over ground, with and without smoothing and acceleration limits. |
| <a id="MPC_ACC_HOR_MAX"></a>[MPC_ACC_HOR_MAX](../advanced_config/parameter_reference.md#MPC_ACC_HOR_MAX) | Maximum horizontal acceleration. |
| <a id="MPC_VEL_MANUAL"></a>[MPC_VEL_MANUAL](../advanced_config/parameter_reference.md#MPC_VEL_MANUAL) | Maximum horizontal velocity. |
| <a id="MPC_LAND_SPEED"></a>[MPC_LAND_SPEED](../advanced_config/parameter_reference.md#MPC_LAND_SPEED) | Landing descend rate. Default 0.7 m/s. |
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