fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 08:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX

Browse Source
This commit is contained in:
bresch
2019-04-25 10:17:46 +02:00
committed by Lorenz Meier
parent 581d25f77f
commit 89bc68e12b
11 changed files with 27 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
+2 -1
View File
@@ -42,7 +42,8 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set MC_YAWRAUTO_MAX 40
param set MPC_YAWRAUTO_MAX 40
param set FW_PR_FF 0.5
param set FW_PR_I 0.02
ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
+1 -1
View File
@@ -36,11 +36,11 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 50
param set MC_YAWRAUTO_MAX 20
param set MPC_XY_P 0.8
param set MPC_XY_VEL_P 0.1
param set MPC_ACC_HOR_MAX 2
param set MPC_YAWRAUTO_MAX 20
param set PWM_AUX_DIS3 950
param set PWM_RATE 400
ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
+2 -1
View File
@@ -28,7 +28,8 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set MC_YAWRAUTO_MAX 40
param set MPC_YAWRAUTO_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_RATE 400
ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
+1 -1
View File
@@ -36,12 +36,12 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 40
param set MC_YAWRAUTO_MAX 40
param set MPC_ACC_HOR_MAX 2
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_TKO_SPEED 1.5
param set MPC_LAND_SPEED 0.8
param set MPC_YAWRAUTO_MAX 40
param set PWM_AUX_DIS5 950
param set PWM_AUX_REV1 1
ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
+1 -1
View File
@@ -36,7 +36,6 @@ then
param set MC_YAWRATE_I 0.02
param set MC_YAWRATE_MAX 40
param set MC_YAWRATE_P 0.18
param set MC_YAWRAUTO_MAX 40
param set MIS_TAKEOFF_ALT 2.5
param set MIS_YAW_TMT 20
@@ -56,6 +55,7 @@ then
param set MPC_XY_VEL_P 0.05
param set MPC_Z_P 0.5
param set MPC_Z_VEL_P 0.1
param set MPC_YAWRAUTO_MAX 40
param set NAV_ACC_RAD 3
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+1 -1
View File
@@ -88,7 +88,6 @@ then
param set MC_YAWRATE_D 0
param set MC_YAWRATE_FF 0
param set MC_YAWRATE_MAX 20
param set MC_YAWRAUTO_MAX 20
param set MC_AIRMODE 1
param set MIS_DIST_1WP 100
@@ -111,6 +110,7 @@ then
param set MPC_XY_CRUISE 5
param set MPC_TILTMAX_AIR 25
param set MPC_TILTMAX_LND 25
param set MPC_YAWRAUTO_MAX 20
param set NAV_DLL_ACT 0
param set NAV_LOITER_RAD 100
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -1
View File
@@ -42,7 +42,6 @@ then
param set MC_YAWRATE_I 0.15
param set MC_YAWRATE_MAX 40
param set MC_YAWRATE_P 0.3
param set MC_YAWRAUTO_MAX 40
param set MPC_MAN_TILT_MAX 25
param set MPC_MAN_Y_MAX 40
@@ -53,6 +52,7 @@ then
param set MPC_VEL_MANUAL 3
param set MPC_XY_VEL_MAX 3.5
param set MPC_Z_VEL_MAX_UP 2
param set MPC_YAWRAUTO_MAX 40
param set PWM_MAIN_DIS3 1000
param set PWM_MAIN_MIN3 1120
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+2 -2
View File
@@ -113,7 +113,7 @@ void FlightTaskAuto::_limitYawRate()
{
if (PX4_ISFINITE(_yaw_setpoint) || PX4_ISFINITE(_yaw_sp_prev)) {
// Limit the rate of change of the yaw setpoint
float dy_max = math::radians(_param_mc_yawrauto_max.get()) * _deltatime;
float dy_max = math::radians(_param_mpc_yawrauto_max.get()) * _deltatime;
if (fabsf(_yaw_setpoint - _yaw_sp_prev) < M_PI_F) {
// Wrap around 0
@@ -134,7 +134,7 @@ void FlightTaskAuto::_limitYawRate()
}
if (PX4_ISFINITE(_yawspeed_setpoint)) {
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -_param_mc_yawrauto_max.get(), _param_mc_yawrauto_max.get());
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -_param_mpc_yawrauto_max.get(), _param_mpc_yawrauto_max.get());
}
}
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+1 -1
View File
@@ -113,7 +113,7 @@ protected:
_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _param_mc_yawrauto_max
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max
);
private:
src/modules/mc_att_control/mc_att_control_params.c
-15
View File
@@ -313,21 +313,6 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
/**
* Max yaw rate in auto mode
*
* Limit for yaw rate, has effect for large rotations in autonomous mode,
* to avoid large control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
/**
* Max acro roll rate
* default: 2 turns per second
src/modules/mc_pos_control/mc_pos_control_params.c
+15
View File
@@ -615,6 +615,21 @@ PARAM_DEFINE_FLOAT(MPC_Z_MAN_EXPO, 0.0f);
*/
PARAM_DEFINE_FLOAT(MPC_YAW_EXPO, 0.0f);
/**
* Max yaw rate in auto mode
*
* Limit the rate of change of the yaw setpoint in autonomous mode
* to avoid large control output and mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @decimal 1
* @increment 5
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
/**
* Altitude for 1. step of slow landing (descend)
*