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refactor(fw_autotune_attitude_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
a0e6e8a240
commit
9fc2289e00
@ -39,6 +39,8 @@ px4_add_module(
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SRCS
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fw_autotune_attitude_control.cpp
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fw_autotune_attitude_control.hpp
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MODULE_CONFIG
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fw_autotune_attitude_control_params.yaml
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DEPENDS
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hysteresis
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mathlib
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@ -1,144 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2020-2021 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 fw_autotune_attitude_control_params.c
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*
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* Parameters used by the attitude auto-tuner
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*
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* @author Mathieu Bresciani <mathieu@auterion.com>
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*/
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/**
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* Controls when to apply the new gains
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*
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* After the auto-tuning sequence is completed,
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* a new set of gains is available and can be applied
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* immediately or after landing.
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*
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* @value 0 Do not apply the new gains (logging only)
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* @value 1 Apply the new gains after disarm
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* @value 2 Apply the new gains in air
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* @group Autotune
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*/
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PARAM_DEFINE_INT32(FW_AT_APPLY, 2);
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/**
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* Tuning axes selection
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*
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* Defines which axes will be tuned during the auto-tuning sequence
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*
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* Set bits in the following positions to enable:
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* 0 : Roll
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* 1 : Pitch
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* 2 : Yaw
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*
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* @bit 0 roll
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* @bit 1 pitch
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* @bit 2 yaw
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* @min 1
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* @max 7
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* @group Autotune
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*/
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PARAM_DEFINE_INT32(FW_AT_AXES, 3);
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/**
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* Enable/disable auto tuning using a manual control AUX input
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*
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* Defines which RC_MAP_AUXn parameter maps the manual control channel used to enable/disable auto tuning.
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*
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* @value 0 Disable
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* @value 1 Aux1
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* @value 2 Aux2
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* @value 3 Aux3
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* @value 4 Aux4
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* @value 5 Aux5
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* @value 6 Aux6
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* @min 0
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* @max 6
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* @group Autotune
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*/
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PARAM_DEFINE_INT32(FW_AT_MAN_AUX, 0);
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/**
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* Start frequency of the injected signal
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*
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* Can be set lower or higher than the end frequency
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*
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* @min 0.1
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* @max 30.0
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* @decimal 1
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* @unit Hz
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* @group Autotune
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*/
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PARAM_DEFINE_FLOAT(FW_AT_SYSID_F0, 1.f);
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/**
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* End frequency of the injected signal
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*
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* Can be set lower or higher than the start frequency
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*
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* @min 0.1
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* @max 30.0
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* @decimal 1
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* @unit Hz
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* @group Autotune
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*/
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PARAM_DEFINE_FLOAT(FW_AT_SYSID_F1, 10.f);
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/**
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* Maneuver time for each axis
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*
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* Duration of the input signal sent on each axis during system identification
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*
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* @min 5
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* @max 120
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* @decimal 0
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* @unit s
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* @group Autotune
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*/
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PARAM_DEFINE_FLOAT(FW_AT_SYSID_TIME, 10.f);
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/**
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* Input signal type
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*
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* Type of signal used during system identification to excite the system.
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*
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* @value 0 Step
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* @value 1 Linear sine sweep
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* @value 2 Logarithmic sine sweep
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* @group Autotune
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*/
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PARAM_DEFINE_INT32(FW_AT_SYSID_TYPE, 1);
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@ -0,0 +1,92 @@
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module_name: fw_autotune_attitude_control
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parameters:
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- group: Autotune
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definitions:
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FW_AT_APPLY:
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description:
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short: Controls when to apply the new gains
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long: |-
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After the auto-tuning sequence is completed,
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a new set of gains is available and can be applied
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immediately or after landing.
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type: enum
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values:
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0: Do not apply the new gains (logging only)
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1: Apply the new gains after disarm
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2: Apply the new gains in air
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default: 2
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FW_AT_AXES:
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description:
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short: Tuning axes selection
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long: |-
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Defines which axes will be tuned during the auto-tuning sequence
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Set bits in the following positions to enable:
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0 : Roll
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1 : Pitch
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2 : Yaw
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type: bitmask
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bit:
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0: roll
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1: pitch
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2: yaw
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default: 3
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min: 1
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max: 7
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FW_AT_MAN_AUX:
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description:
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short: Enable/disable auto tuning using a manual control AUX input
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long: Defines which RC_MAP_AUXn parameter maps the manual control channel
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used to enable/disable auto tuning.
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type: enum
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values:
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0: Disable
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1: Aux1
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2: Aux2
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3: Aux3
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4: Aux4
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5: Aux5
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6: Aux6
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default: 0
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min: 0
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max: 6
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FW_AT_SYSID_F0:
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description:
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short: Start frequency of the injected signal
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long: Can be set lower or higher than the end frequency
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type: float
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default: 1.0
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min: 0.1
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max: 30.0
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decimal: 1
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unit: Hz
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FW_AT_SYSID_F1:
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description:
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short: End frequency of the injected signal
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long: Can be set lower or higher than the start frequency
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type: float
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default: 10.0
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min: 0.1
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max: 30.0
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decimal: 1
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unit: Hz
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FW_AT_SYSID_TIME:
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description:
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short: Maneuver time for each axis
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long: Duration of the input signal sent on each axis during system identification
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type: float
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default: 10.0
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min: 5
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max: 120
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decimal: 0
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unit: s
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FW_AT_SYSID_TYPE:
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description:
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short: Input signal type
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long: Type of signal used during system identification to excite the system.
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type: enum
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values:
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0: Step
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1: Linear sine sweep
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2: Logarithmic sine sweep
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default: 1
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