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mc att: convert param definitions to be compatible with multiplatform build

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This commit is contained in:
Thomas Gubler
2014-12-11 17:05:12 +01:00
parent ce73a81602
commit 9d0ecc77bb
2 changed files with 86 additions and 20 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+21 -20
View File
@@ -40,6 +40,7 @@
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mc_att_control_params.h""
#include <systemlib/param/param.h>
/**
@@ -50,7 +51,7 @@
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
/**
* Roll rate P gain
@@ -60,7 +61,7 @@ PARAM_DEFINE_FLOAT(MC_ROLL_P, 6.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
/**
* Roll rate I gain
@@ -70,7 +71,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
/**
* Roll rate D gain
@@ -80,7 +81,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
/**
* Pitch P gain
@@ -91,7 +92,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_D, 0.002f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
/**
* Pitch rate P gain
@@ -101,7 +102,7 @@ PARAM_DEFINE_FLOAT(MC_PITCH_P, 6.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
/**
* Pitch rate I gain
@@ -111,7 +112,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_P, 0.1f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
/**
* Pitch rate D gain
@@ -121,7 +122,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
/**
* Yaw P gain
@@ -132,7 +133,7 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_D, 0.002f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
/**
* Yaw rate P gain
@@ -142,7 +143,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_P, 2.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
/**
* Yaw rate I gain
@@ -152,7 +153,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.3f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
/**
* Yaw rate D gain
@@ -162,7 +163,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
/**
* Yaw feed forward
@@ -173,7 +174,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);
* @max 1.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
/**
* Max yaw rate
@@ -185,7 +186,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
/**
* Max manual roll
@@ -195,7 +196,7 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
/**
* Max manual pitch
@@ -205,7 +206,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f);
* @max 90.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
/**
* Max manual yaw rate
@@ -214,7 +215,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
/**
* Max acro roll rate
@@ -224,7 +225,7 @@ PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
/**
* Max acro pitch rate
@@ -234,7 +235,7 @@ PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 90.0f);
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
/**
* Max acro yaw rate
@@ -243,4 +244,4 @@ PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 90.0f);
* @min 0.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 120.0f);
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
src/modules/mc_att_control/mc_att_control_params.h
+65
View File
@@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mc_att_control_params.h
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#define PARAM_MC_ROLL_P_DEFAULT 6.0f
#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
#define PARAM_MC_PITCH_P_DEFAULT 6.0f
#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
#define PARAM_MC_YAW_P_DEFAULT 2.0f
#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
#define PARAM_MC_YAW_FF_DEFAULT 0.5f
#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
#define PARAM_MC_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MC_MAN_Y_MAX_DEFAULT 120.0f
#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f