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FlightTaskAuto: clean up parameter description and internal variable naming

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This commit is contained in:
Matthias Grob
2025-04-25 15:32:47 +02:00
committed by Silvan Fuhrer
parent 2ba5a455ed
commit 5f34474ecb
3 changed files with 8 additions and 13 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+1 -1
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@@ -235,7 +235,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
bool range_dist_available = PX4_ISFINITE(_dist_to_bottom); bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);
if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) { 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) { if (_type_previous != WaypointType::land) {
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+5 -9
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@@ -165,20 +165,16 @@ protected:
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p, (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_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed, (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, (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_RADIUS>) _param_mpc_land_radius,
(ParamFloat<px4::params::MPC_LAND_ALT1>) (ParamFloat<px4::params::MPC_LAND_ALT1>) _param_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,
(ParamFloat<px4::params::MPC_LAND_ALT2>) (ParamFloat<px4::params::MPC_LAND_ALT3>) _param_mpc_land_alt3,
_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_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up, (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_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_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) (ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t
_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
); );
private: private:
src/modules/mc_pos_control/multicopter_takeoff_land_params.c
+2 -3
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@@ -89,9 +89,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f);
/** /**
* Altitude for 3. step of slow landing * Altitude for 3. step of slow landing
* *
* Below this altitude descending velocity gets * If a valid distance sensor measurement to the ground is available,
* limited to "MPC_LAND_CRWL", if LIDAR available. * limit descending velocity to "MPC_LAND_CRWL" below this altitude.
* No effect if LIDAR not available
* *
* @unit m * @unit m
* @min 0 * @min 0