diff --git a/cmake/metadata.cmake b/cmake/metadata.cmake index 82b2042701..803d14c9e2 100644 --- a/cmake/metadata.cmake +++ b/cmake/metadata.cmake @@ -71,18 +71,15 @@ add_custom_target(metadata_parameters COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir} - --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml --markdown ${PX4_BINARY_DIR}/docs/parameters.md COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir} - --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml --json ${PX4_BINARY_DIR}/docs/parameters.json --compress COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py --src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir} - --inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml --xml ${PX4_BINARY_DIR}/docs/parameters.xml COMMENT "Generating full parameter metadata (markdown, xml, and json)" diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt index 81b609080a..cfa118b2dd 100644 --- a/src/lib/parameters/CMakeLists.txt +++ b/src/lib/parameters/CMakeLists.txt @@ -123,7 +123,6 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json --xml ${parameters_xml} --json ${parameters_json} --compress - --inject-xml ${CMAKE_CURRENT_SOURCE_DIR}/parameters_injected.xml --overrides ${PARAM_DEFAULT_OVERRIDES} --board ${PX4_BOARD} #--verbose @@ -136,13 +135,11 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json ${param_src_files} ${generated_serial_params_file} ${generated_module_params_file} - parameters_injected.xml px4params/srcparser.py px4params/srcscanner.py px4params/jsonout.py px4params/xmlout.py px_process_params.py - parameters_injected.xml COMMENT "Generating parameters.xml" ) add_custom_target(parameters_xml DEPENDS ${parameters_xml}) @@ -161,7 +158,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp) set(SRCS) list(APPEND SRCS - parameters.cpp + parameters.cpp atomic_transaction.cpp autosave.cpp ) diff --git a/src/lib/parameters/parameters_injected.xml b/src/lib/parameters/parameters_injected.xml deleted file mode 100644 index b927adc289..0000000000 --- a/src/lib/parameters/parameters_injected.xml +++ /dev/null @@ -1,198 +0,0 @@ - - - 3 - - - Speed controller bandwidth - Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness. - Hz - 10 - 250 - - - Reverse direction - Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction. - 0 - 1 - - - Speed (RPM) controller gain - Speed (RPM) controller gain. Determines controller - aggressiveness; units are amp-seconds per radian. Systems with - higher rotational inertia (large props) will need gain increased; - systems with low rotational inertia (small props) may need gain - decreased. Higher values result in faster response, but may result - in oscillation and excessive overshoot. Lower values result in a - slower, smoother response. - C/rad - 3 - 0.00 - 1.00 - - - Idle speed (e Hz) - Idle speed (e Hz) - Hz - 3 - 0.0 - 100.0 - - - Spin-up rate (e Hz/s) - Spin-up rate (e Hz/s) - 1/s^2 - 5 - 1000 - - - Index of this ESC in throttle command messages. - Index of this ESC in throttle command messages. - 0 - 15 - - - Extended status ID - Extended status ID - 1 - 1000000 - - - Extended status interval (µs) - Extended status interval (µs) - us - 0 - 1000000 - - - ESC status interval (µs) - ESC status interval (µs) - us - 1000000 - - - Motor current limit in amps - Motor current limit in amps. This determines the maximum - current controller setpoint, as well as the maximum allowable - current setpoint slew rate. This value should generally be set to - the continuous current rating listed in the motor’s specification - sheet, or set equal to the motor’s specified continuous power - divided by the motor voltage limit. - A - 3 - 1 - 80 - - - Motor Kv in RPM per volt - Motor Kv in RPM per volt. This can be taken from the motor’s - specification sheet; accuracy will help control performance but - some deviation from the specified value is acceptable. - rpm/V - 0 - 4000 - - - READ ONLY: Motor inductance in henries. - READ ONLY: Motor inductance in henries. This is measured on start-up. - H - 3 - - - Number of motor poles. - Number of motor poles. Used to convert mechanical speeds to - electrical speeds. This number should be taken from the motor’s - specification sheet. - 2 - 40 - - - READ ONLY: Motor resistance in ohms - READ ONLY: Motor resistance in ohms. This is measured on start-up. When - tuning a new motor, check that this value is approximately equal - to the value shown in the motor’s specification sheet. - Ohm - 3 - - - Acceleration limit (V) - Acceleration limit (V) - V - 3 - 0.01 - 1.00 - - - Motor voltage limit in volts - Motor voltage limit in volts. The current controller’s - commanded voltage will never exceed this value. Note that this may - safely be above the nominal voltage of the motor; to determine the - actual motor voltage limit, divide the motor’s rated power by the - motor current limit. - V - 3 - 0 - - - - - device health warning - Set the device health to Warning if the dimensionality of - the GNSS solution is less than this value. 3 for the full (3D) - solution, 2 for planar (2D) solution, 1 for time-only solution, - 0 disables the feature. - - 0 - 3 - - disables the feature - time-only solution - planar (2D) solution - full (3D) solution - - - - - Set the device health to Warning if the number of satellites - used in the GNSS solution is below this threshold. Zero - disables the feature - - - - GNSS dynamic model - Dynamic model used in the GNSS positioning engine. 0 – - Automotive, 1 – Sea, 2 – Airborne. - - 0 - 2 - - Automotive - Sea - Airborne - - - - Broadcast old GNSS fix message - Broadcast the old (deprecated) GNSS fix message - uavcan.equipment.gnss.Fix alongside the new alternative - uavcan.equipment.gnss.Fix2. It is recommended to - disable this feature to reduce the CAN bus traffic. - - 0 - 1 - - Fix2 - Fix and Fix2 - - - - - Set the device health to Warning if the number of satellites - used in the GNSS solution is below this threshold. Zero - disables the feature - - us - 0 - 1000000 - - - diff --git a/src/lib/parameters/px4params/jsonout.py b/src/lib/parameters/px4params/jsonout.py index e4a8b021bd..ba97c740d9 100644 --- a/src/lib/parameters/px4params/jsonout.py +++ b/src/lib/parameters/px4params/jsonout.py @@ -5,7 +5,7 @@ import sys class JsonOutput(): - def __init__(self, groups, board, inject_xml_file_name): + def __init__(self, groups, board): all_json=dict() all_json['version']=1 all_params=[] diff --git a/src/lib/parameters/px_process_params.py b/src/lib/parameters/px_process_params.py index feefa684c8..2d35e3e95d 100755 --- a/src/lib/parameters/px_process_params.py +++ b/src/lib/parameters/px_process_params.py @@ -75,12 +75,6 @@ def main(): metavar="FILENAME", help="Create XML file" " (default FILENAME: parameters.xml)") - parser.add_argument("-i", "--inject-xml", - nargs='?', - const="parameters_injected.xml", - metavar="FILENAME", - help="Inject additional param XML file" - " (default FILENAME: parameters_injected.xml)") parser.add_argument("-b", "--board", nargs='?', const="", @@ -138,8 +132,6 @@ def main(): #inject parameters at front of set cur_dir = os.path.dirname(os.path.realpath(__file__)) - groups_to_inject = injectxmlparams.XMLInject(os.path.join(cur_dir, args.inject_xml)).injected() - param_groups=groups_to_inject+param_groups override_dict = json.loads(args.overrides) if len(override_dict.keys()) > 0: @@ -174,8 +166,7 @@ def main(): if args.verbose: print("Creating Json file " + args.json) cur_dir = os.path.dirname(os.path.realpath(__file__)) - out = jsonout.JsonOutput(param_groups, args.board, - os.path.join(cur_dir, args.inject_xml)) + out = jsonout.JsonOutput(param_groups, args.board) out.Save(args.json) output_files.append(args.json) @@ -184,7 +175,7 @@ def main(): if args.verbose: print("Compressing file " + f) save_compressed(f) - + if __name__ == "__main__": main()