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refactor(uuv_pos_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
parent
ca52ab75a0
commit
3a47e283cc
@ -37,4 +37,6 @@ px4_add_module(
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COMPILE_FLAGS
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SRCS
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uuv_pos_control.cpp
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MODULE_CONFIG
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uuv_pos_control_params.yaml
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)
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@ -1,188 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file uuv_pos_control_params.c
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*
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* Parameters defined by the position control task for unmanned underwater vehicles (UUVs)
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*
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* This is a modification of the fixed wing/ground rover params and it is designed for ground rovers.
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* It has been developed starting from the fw module, simplified and improved with dedicated items.
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*
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* All the ackowledgments and credits for the fw wing/rover app are reported in those files.
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*
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* @author Tim Hansen <timhansen93@googlemail.com>
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* @author Daniel Duecker <daniel.duecker@tuhh.de>
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*/
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/*
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* Controller parameters, accessible via MAVLink
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*
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*/
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/**
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* Gain of P controller X
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_X_P, 1.0f);
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/**
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* Gain of P controller Y
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_Y_P, 1.0f);
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/**
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* Gain of P controller Z
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_Z_P, 1.0f);
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/**
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* Gain of D controller X
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_X_D, 0.2f);
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/**
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* Gain of D controller Y
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_Y_D, 0.2f);
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/**
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* Gain of D controller Z
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_GAIN_Z_D, 0.2f);
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/**
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* Stabilization mode(1) or Position Control(0)
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*
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* @value 0 Tracks previous attitude setpoint
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* @value 1 Tracks horizontal attitude (allows yaw change)
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* @group UUV Position Control
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*/
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PARAM_DEFINE_INT32(UUV_STAB_MODE, 1);
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/**
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* Deadband for changing position setpoint
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_POS_STICK_DB, 0.1f);
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/**
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* Gain for position control velocity setpoint update
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*
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* @group UUV Position Control
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*/
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PARAM_DEFINE_FLOAT(UUV_PGM_VEL, 0.5f);
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/**
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* Stabilization mode(1) or Position Control(0)
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*
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* @value 0 Moves position setpoint in world frame
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* @value 1 Moves position setpoint in body frame
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* @group UUV Position Control
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*/
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PARAM_DEFINE_INT32(UUV_POS_MODE, 1);
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/**
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* Height proportional gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_P, 1.0f);
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/**
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* Height differential gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_D, 1.0f);
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/**
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* Height integrational gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_I, 0.2f);
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/**
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* sum speed of error for integrational gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_I_SPD, 1.0f);
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/**
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* Height change strength from manual input
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_STR, 1.0f);
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/**
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* maximum Height distance controlled by manual input. Diff between actual and desired Height cant be higher than that
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*
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_HGT_MAX_DIFF, 0.3f);
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/**
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* Height rc-button up
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*
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* @group UUV Attitude Control
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* @min 0
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* @max 16
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*/
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PARAM_DEFINE_INT32(UUV_HGT_B_UP, 11);
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/**
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* Height rc-button down
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*
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* @group UUV Attitude Control
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* @min 0
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* @max 16
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*/
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PARAM_DEFINE_INT32(UUV_HGT_B_DOWN, 12);
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114
src/modules/uuv_pos_control/uuv_pos_control_params.yaml
Normal file
114
src/modules/uuv_pos_control/uuv_pos_control_params.yaml
Normal file
@ -0,0 +1,114 @@
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module_name: uuv_pos_control
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parameters:
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- group: UUV Attitude Control
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definitions:
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UUV_HGT_P:
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description:
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short: Height proportional gain
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type: float
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default: 1.0
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decimal: 2
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UUV_HGT_D:
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description:
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short: Height differential gain
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type: float
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default: 1.0
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decimal: 2
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UUV_HGT_I:
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description:
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short: Height integrational gain
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type: float
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default: 0.2
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decimal: 2
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UUV_HGT_I_SPD:
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description:
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short: sum speed of error for integrational gain
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type: float
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default: 1.0
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decimal: 2
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UUV_HGT_STR:
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description:
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short: Height change strength from manual input
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type: float
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default: 1.0
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decimal: 2
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UUV_HGT_MAX_DIFF:
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description:
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short: Max height error from manual input
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long: maximum Height distance controlled by manual input. Diff between actual
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and desired Height cant be higher than that
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type: float
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default: 0.3
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decimal: 2
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UUV_HGT_B_UP:
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description:
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short: Height rc-button up
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type: int32
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default: 11
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min: 0
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max: 16
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UUV_HGT_B_DOWN:
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description:
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short: Height rc-button down
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type: int32
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default: 12
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min: 0
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max: 16
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- group: UUV Position Control
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definitions:
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UUV_GAIN_X_P:
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description:
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short: Gain of P controller X
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type: float
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default: 1.0
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UUV_GAIN_Y_P:
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description:
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short: Gain of P controller Y
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type: float
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default: 1.0
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UUV_GAIN_Z_P:
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description:
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short: Gain of P controller Z
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type: float
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default: 1.0
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UUV_GAIN_X_D:
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description:
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short: Gain of D controller X
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type: float
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default: 0.2
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UUV_GAIN_Y_D:
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description:
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short: Gain of D controller Y
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type: float
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default: 0.2
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UUV_GAIN_Z_D:
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description:
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short: Gain of D controller Z
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type: float
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default: 0.2
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UUV_STAB_MODE:
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description:
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short: Stabilization mode(1) or Position Control(0)
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type: enum
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values:
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0: Tracks previous attitude setpoint
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1: Tracks horizontal attitude (allows yaw change)
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default: 1
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UUV_POS_STICK_DB:
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description:
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short: Deadband for changing position setpoint
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type: float
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default: 0.1
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UUV_PGM_VEL:
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description:
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short: Gain for position control velocity setpoint update
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type: float
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default: 0.5
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UUV_POS_MODE:
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description:
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short: Stabilization mode(1) or Position Control(0)
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type: enum
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values:
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0: Moves position setpoint in world frame
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1: Moves position setpoint in body frame
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default: 1
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