From 31cc636eed1b49753a326afa3e28a7ccb3c1d459 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Tue, 17 Mar 2026 21:55:33 -0800 Subject: [PATCH] refactor(lib/mixer_module): convert params.c to module.yaml Convert 2 parameter file(s) from legacy C format to YAML module configuration. --- src/lib/mixer_module/CMakeLists.txt | 2 + src/lib/mixer_module/motor_params.c | 57 -------------------------- src/lib/mixer_module/motor_params.yaml | 20 +++++++++ src/lib/mixer_module/params.c | 18 -------- src/lib/mixer_module/params.yaml | 21 ++++++++++ 5 files changed, 43 insertions(+), 75 deletions(-) delete mode 100644 src/lib/mixer_module/motor_params.c create mode 100644 src/lib/mixer_module/motor_params.yaml delete mode 100644 src/lib/mixer_module/params.c create mode 100644 src/lib/mixer_module/params.yaml diff --git a/src/lib/mixer_module/CMakeLists.txt b/src/lib/mixer_module/CMakeLists.txt index 3a1581118b..5d9ebbe603 100644 --- a/src/lib/mixer_module/CMakeLists.txt +++ b/src/lib/mixer_module/CMakeLists.txt @@ -60,6 +60,8 @@ px4_add_library(mixer_module mixer_module.cpp mixer_module.hpp ) +set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/motor_params.yaml) +set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/params.yaml) add_dependencies(mixer_module output_functions_header) target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL}) diff --git a/src/lib/mixer_module/motor_params.c b/src/lib/mixer_module/motor_params.c deleted file mode 100644 index 51cb34f3ec..0000000000 --- a/src/lib/mixer_module/motor_params.c +++ /dev/null @@ -1,57 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2018 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file motor_params.c - * - * Parameters for motors. - * - */ - -/** - * Thrust to motor control signal model parameter - * - * Parameter used to model the nonlinear relationship between - * motor control signal (e.g. PWM) and static thrust. - * - * The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, - * where rel_thrust is the normalized thrust between 0 and 1, and - * rel_signal is the relative motor control signal between 0 and 1. - * - * @min 0.0 - * @max 1.0 - * @decimal 1 - * @increment 0.1 - * @group PWM Outputs - */ -PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f); diff --git a/src/lib/mixer_module/motor_params.yaml b/src/lib/mixer_module/motor_params.yaml new file mode 100644 index 0000000000..826b450b5a --- /dev/null +++ b/src/lib/mixer_module/motor_params.yaml @@ -0,0 +1,20 @@ +module_name: mixer_module +parameters: +- group: PWM Outputs + definitions: + THR_MDL_FAC: + description: + short: Thrust to motor control signal model parameter + long: |- + Parameter used to model the nonlinear relationship between + motor control signal (e.g. PWM) and static thrust. + + The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal, + where rel_thrust is the normalized thrust between 0 and 1, and + rel_signal is the relative motor control signal between 0 and 1. + type: float + default: 0.0 + min: 0.0 + max: 1.0 + decimal: 1 + increment: 0.1 diff --git a/src/lib/mixer_module/params.c b/src/lib/mixer_module/params.c deleted file mode 100644 index e54a25eca0..0000000000 --- a/src/lib/mixer_module/params.c +++ /dev/null @@ -1,18 +0,0 @@ - -/** - * Multicopter air-mode - * - * The air-mode enables the mixer to increase the total thrust of the multirotor - * in order to keep attitude and rate control even at low and high throttle. - * - * This function should be disabled during tuning as it will help the controller - * to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). - * - * Enabling air-mode for yaw requires the use of an arming switch. - * - * @value 0 Disabled - * @value 1 Roll/Pitch - * @value 2 Roll/Pitch/Yaw - * @group Mixer Output - */ -PARAM_DEFINE_INT32(MC_AIRMODE, 0); diff --git a/src/lib/mixer_module/params.yaml b/src/lib/mixer_module/params.yaml new file mode 100644 index 0000000000..29efcbbeec --- /dev/null +++ b/src/lib/mixer_module/params.yaml @@ -0,0 +1,21 @@ +module_name: mixer_module +parameters: +- group: Mixer Output + definitions: + MC_AIRMODE: + description: + short: Multicopter air-mode + long: |- + The air-mode enables the mixer to increase the total thrust of the multirotor + in order to keep attitude and rate control even at low and high throttle. + + This function should be disabled during tuning as it will help the controller + to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet). + + Enabling air-mode for yaw requires the use of an arming switch. + type: enum + values: + 0: Disabled + 1: Roll/Pitch + 2: Roll/Pitch/Yaw + default: 0