fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskAuto: clean up parameter description and internal variable naming

Browse Source
This commit is contained in:
Matthias Grob 2025-04-25 09:45:41 +02:00
parent 38922d10a0
commit 5c2a898edd
3 changed files with 8 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
View File

@ -235,7 +235,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);
if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) {
vertical_speed = _param_mpc_land_crawl_speed.get();
vertical_speed = _param_mpc_land_crwl.get();
}
if (_type_previous != WaypointType::land) {

14
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
View File

@ -165,20 +165,16 @@ protected:
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crawl_speed,
(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crwl,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_RADIUS>) _param_mpc_land_radius,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which we start ramping down speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which we descend at land speed
(ParamFloat<px4::params::MPC_LAND_ALT3>)
_param_mpc_land_alt3, // altitude where we switch to crawl speed, if LIDAR available
(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
(ParamFloat<px4::params::MPC_LAND_ALT3>) _param_mpc_land_alt3,
(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t
);
private:

5
src/modules/mc_pos_control/multicopter_takeoff_land_params.c
View File

@ -89,9 +89,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f);
/**
* Altitude for 3. step of slow landing
*
* Below this altitude descending velocity gets
* limited to "MPC_LAND_CRWL", if LIDAR available.
* No effect if LIDAR not available
* If a valid distance sensor measurement to the ground is available,
* limit descending velocity to "MPC_LAND_CRWL" below this altitude.
*
* @unit m
* @min 0