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Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX

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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
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+2 -2
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@@ -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
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@@ -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
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@@ -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
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@@ -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)
*