fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-14 07:17:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Omni Params: Attitude setpoint params moved from attitude controller to position controller

Browse Source
This commit is contained in:
Azarakhsh Keipour
2020-07-26 01:46:20 -04:00
parent 3124e76aaa
commit 45af173da1
2 changed files with 111 additions and 111 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_params.c
-111
View File
@@ -144,114 +144,3 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
/**
* Maximum direct-force (horizontal) scaled thrust for omnidirectional vehicles
*
* Specifies the maximum horizontal thrust compared to the maximum possible
* thrust generated by the vehicle for an omnidirectional multirotor. The
* value of this parameter does not affect the behavior if the attitude mode
* is not set to one of omni-directional modes (if OMNI_ATT_MODE is 0).
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_DFC_MAX_THR, 0.15f);
/**
* Omni-directional attitude setpoint mode
*
* Specifies the type of attitude setpoint sent to the attitude controller.
* The parameter can be set to a normal attitude setpoint, where the tilt
* of the vehicle (roll and pitch) are calculated from the desired thrust
* vector. This should be the behavior for the non-omnidirectional vehicles,
* such as quadrotors and other multirotors with coplanar rotors.
* The "constant zero tilt" mode enforces zero roll and pitch and can only be
* used for omnidirectional vehicles. The min-tilt mode enforces zero tilt
* up to a maximum set acceleration (thrust) and tilts the vehicle as small
* as possible if the thrust vector is larger than the maximum. The "constant
* tilt" and "constant roll/pitch" modes enforce a given tilt or roll/pitch
* for the vehicle. The estimation modes estimate the optimal tilt or roll/pitch
* to counteract with the external force (e.g., wind).
*
* @min 0
* @max 6
* @value 0 tilted attitude
* @value 1 min-tilt attitude
* @value 2 constant zero tilt
* @value 3 constant tilt
* @value 4 constant roll/pitch
* @value 5 estimate tilt
* @value 6 estimate roll/pitch
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(OMNI_ATT_MODE, 0);
/**
* Omni-directional attitude setpoint tilt angle
*
* Specifies the tilt angle in degrees for the constant-tilt attitude
* setpoint generation mode (OMNI_ATT_MODE=3).
*
* @min 0
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_ANG, 0.0f);
/**
* Omni-directional attitude setpoint tilt direction angle
*
* Specifies the direction of the tilt in degrees for the constant-tilt
* attitude setpoint generation mode (OMNI_ATT_MODE=3). The direction is
* measured from North.
*
* @min -360
* @max 360
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_DIR, 0.0f);
/**
* Omni-directional attitude setpoint roll angle
*
* Specifies the roll angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_ROLL, 0.0f);
/**
* Omni-directional attitude setpoint pitch angle
*
* Specifies the pitch angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_PITCH, 0.0f);
/**
* Axes for thrust projection in omni-directional attitude modes
*
* Specifies the axis used for projecting inertial thrust setpoint
* to the body-fixed frame in omni-directional modes (OMNI_ATT_MODE > 0).
*
* @min 0
* @max 1
* @value 0 commanded attitude
* @value 1 current attitude
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(OMNI_PROJ_AXES, 1);
src/modules/mc_pos_control/mc_pos_control_params.c
+111
View File
@@ -745,3 +745,114 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
* @group Mission
*/
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
/**
* Maximum direct-force (horizontal) scaled thrust for omnidirectional vehicles
*
* Specifies the maximum horizontal thrust compared to the maximum possible
* thrust generated by the vehicle for an omnidirectional multirotor. The
* value of this parameter does not affect the behavior if the attitude mode
* is not set to one of omni-directional modes (if OMNI_ATT_MODE is 0).
*
* @min 0
* @max 1
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_DFC_MAX_THR, 0.15f);
/**
* Omni-directional attitude setpoint mode
*
* Specifies the type of attitude setpoint sent to the attitude controller.
* The parameter can be set to a normal attitude setpoint, where the tilt
* of the vehicle (roll and pitch) are calculated from the desired thrust
* vector. This should be the behavior for the non-omnidirectional vehicles,
* such as quadrotors and other multirotors with coplanar rotors.
* The "constant zero tilt" mode enforces zero roll and pitch and can only be
* used for omnidirectional vehicles. The min-tilt mode enforces zero tilt
* up to a maximum set acceleration (thrust) and tilts the vehicle as small
* as possible if the thrust vector is larger than the maximum. The "constant
* tilt" and "constant roll/pitch" modes enforce a given tilt or roll/pitch
* for the vehicle. The estimation modes estimate the optimal tilt or roll/pitch
* to counteract with the external force (e.g., wind).
*
* @min 0
* @max 6
* @value 0 tilted attitude
* @value 1 min-tilt attitude
* @value 2 constant zero tilt
* @value 3 constant tilt
* @value 4 constant roll/pitch
* @value 5 estimate tilt/roll/pitch
* @value 6 slow attitude change
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(OMNI_ATT_MODE, 0);
/**
* Omni-directional attitude setpoint tilt angle
*
* Specifies the tilt angle in degrees for the constant-tilt attitude
* setpoint generation mode (OMNI_ATT_MODE=3).
*
* @min 0
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_ANG, 0.0f);
/**
* Omni-directional attitude setpoint tilt direction angle
*
* Specifies the direction of the tilt in degrees for the constant-tilt
* attitude setpoint generation mode (OMNI_ATT_MODE=3). The direction is
* measured from North.
*
* @min -360
* @max 360
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_DIR, 0.0f);
/**
* Omni-directional attitude setpoint roll angle
*
* Specifies the roll angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_ROLL, 0.0f);
/**
* Omni-directional attitude setpoint pitch angle
*
* Specifies the pitch angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_PITCH, 0.0f);
/**
* Axes for thrust projection in omni-directional attitude modes
*
* Specifies the axis used for projecting inertial thrust setpoint
* to the body-fixed frame in omni-directional modes (OMNI_ATT_MODE > 0).
*
* @min 0
* @max 1
* @value 0 commanded attitude
* @value 1 current attitude
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(OMNI_PROJ_AXES, 1);