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refactor(mc_att_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
parent
b69d582ff1
commit
89e5b41722
@ -41,6 +41,8 @@ px4_add_module(
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SRCS
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mc_att_control_main.cpp
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mc_att_control.hpp
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MODULE_CONFIG
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mc_att_control_params.yaml
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DEPENDS
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AttitudeControl
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mathlib
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@ -1,160 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_att_control_params.c
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* Parameters for multicopter attitude controller.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Anton Babushkin <anton@px4.io>
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*/
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/**
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* Roll P gain
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*
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* Roll proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @min 0.0
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* @max 12
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* @decimal 2
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* @increment 0.1
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLL_P, 4.0f);
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/**
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* Pitch P gain
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*
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* Pitch proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @min 0.0
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* @max 12
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* @decimal 2
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* @increment 0.1
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCH_P, 4.0f);
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/**
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* Yaw P gain
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*
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* Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
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*
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* @min 0.0
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* @max 5
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* @decimal 2
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* @increment 0.1
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAW_P, 2.8f);
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/**
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* Yaw weight
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*
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* A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
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* Deprioritizing yaw is necessary because multicopters have much less control authority
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* in yaw compared to the other axes and it makes sense because yaw is not critical for
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* stable hovering or 3D navigation.
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*
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* For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @increment 0.1
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAW_WEIGHT, 0.4f);
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/**
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* Max roll rate
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*
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* Limit for roll rate in manual and auto modes (except acro).
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* Has effect for large rotations in autonomous mode, to avoid large control
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* output and mixer saturation.
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*
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* This is not only limited by the vehicle's properties, but also by the maximum
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* measurement rate of the gyro.
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 220.0f);
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/**
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* Max pitch rate
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*
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* Limit for pitch rate in manual and auto modes (except acro).
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* Has effect for large rotations in autonomous mode, to avoid large control
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* output and mixer saturation.
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*
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* This is not only limited by the vehicle's properties, but also by the maximum
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* measurement rate of the gyro.
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
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/**
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* Max yaw rate
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Attitude Control
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
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/**
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* Manual tilt input filter time constant
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*
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* Setting this parameter to 0 disables the filter
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*
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* @unit s
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* @min 0.0
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* @max 2.0
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* @decimal 2
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MC_MAN_TILT_TAU, 0.0f);
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109
src/modules/mc_att_control/mc_att_control_params.yaml
Normal file
109
src/modules/mc_att_control/mc_att_control_params.yaml
Normal file
@ -0,0 +1,109 @@
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module_name: mc_att_control
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parameters:
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- group: Multicopter Attitude Control
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definitions:
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MC_ROLL_P:
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description:
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short: Roll P gain
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long: Roll proportional gain, i.e. desired angular speed in rad/s for error
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1 rad.
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type: float
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default: 4.0
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min: 0.0
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max: 12
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decimal: 2
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increment: 0.1
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MC_PITCH_P:
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description:
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short: Pitch P gain
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long: Pitch proportional gain, i.e. desired angular speed in rad/s for error
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1 rad.
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type: float
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default: 4.0
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min: 0.0
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max: 12
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decimal: 2
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increment: 0.1
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MC_YAW_P:
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description:
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short: Yaw P gain
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long: Yaw proportional gain, i.e. desired angular speed in rad/s for error
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1 rad.
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type: float
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default: 2.8
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min: 0.0
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max: 5
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decimal: 2
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increment: 0.1
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MC_YAW_WEIGHT:
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description:
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short: Yaw weight
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long: |-
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A fraction [0,1] deprioritizing yaw compared to roll and pitch in non-linear attitude control.
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Deprioritizing yaw is necessary because multicopters have much less control authority
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in yaw compared to the other axes and it makes sense because yaw is not critical for
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stable hovering or 3D navigation.
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For yaw control tuning use MC_YAW_P. This ratio has no impact on the yaw gain.
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type: float
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default: 0.4
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min: 0.0
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max: 1.0
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decimal: 2
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increment: 0.1
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MC_ROLLRATE_MAX:
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description:
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short: Max roll rate
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long: |-
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Limit for roll rate in manual and auto modes (except acro).
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Has effect for large rotations in autonomous mode, to avoid large control
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output and mixer saturation.
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This is not only limited by the vehicle's properties, but also by the maximum
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measurement rate of the gyro.
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type: float
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default: 220.0
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unit: deg/s
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min: 0.0
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max: 1800.0
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decimal: 1
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increment: 5
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MC_PITCHRATE_MAX:
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description:
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short: Max pitch rate
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long: |-
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Limit for pitch rate in manual and auto modes (except acro).
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Has effect for large rotations in autonomous mode, to avoid large control
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output and mixer saturation.
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This is not only limited by the vehicle's properties, but also by the maximum
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measurement rate of the gyro.
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type: float
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default: 220.0
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unit: deg/s
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min: 0.0
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max: 1800.0
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decimal: 1
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increment: 5
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MC_YAWRATE_MAX:
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description:
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short: Max yaw rate
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type: float
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default: 200.0
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unit: deg/s
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min: 0.0
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max: 1800.0
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decimal: 1
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increment: 5
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- group: Multicopter Position Control
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definitions:
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MC_MAN_TILT_TAU:
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description:
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short: Manual tilt input filter time constant
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long: Setting this parameter to 0 disables the filter
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type: float
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default: 0.0
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unit: s
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min: 0.0
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max: 2.0
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decimal: 2
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