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multiplatform port of #1741: move params from att control to pos control

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This commit is contained in:
Thomas Gubler 2015-02-22 13:02:22 +01:00
parent f1c6b24f7a
commit a56c16dfab
10 changed files with 47 additions and 50 deletions
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8
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
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@ -89,9 +89,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
.yaw_rate_d = px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
.yaw_ff = px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
.yaw_rate_max = px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
.man_roll_max = px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MC_MAN_Y_MAX_DEFAULT),
.acro_roll_max = px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
.acro_pitch_max = px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
.acro_yaw_max = px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
@ -146,11 +143,6 @@ MulticopterAttitudeControl::parameters_update()
_params.yaw_ff = _params_handles.yaw_ff.update();
_params.yaw_rate_max = math::radians(_params_handles.yaw_rate_max.update());
/* manual control scale */
_params.man_roll_max = math::radians(_params_handles.man_roll_max.update());
_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
/* acro control scale */
_params.acro_rate_max(0) = math::radians(_params_handles.acro_roll_max.update());
_params.acro_rate_max(1) = math::radians(_params_handles.acro_pitch_max.update());

3
src/modules/mc_att_control_multiplatform/mc_att_control.h
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@ -110,9 +110,6 @@ private:
px4::ParameterFloat yaw_ff;
px4::ParameterFloat yaw_rate_max;
px4::ParameterFloat man_roll_max;
px4::ParameterFloat man_pitch_max;
px4::ParameterFloat man_yaw_max;
px4::ParameterFloat acro_roll_max;
px4::ParameterFloat acro_pitch_max;
px4::ParameterFloat acro_yaw_max;

3
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp
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@ -66,9 +66,6 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_params.rate_d.zero();
_params.yaw_ff = 0.0f;
_params.yaw_rate_max = 0.0f;
_params.man_roll_max = 0.0f;
_params.man_pitch_max = 0.0f;
_params.man_yaw_max = 0.0f;
_params.acro_rate_max.zero();
_rates_prev.zero();

3
src/modules/mc_att_control_multiplatform/mc_att_control_base.h
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@ -119,9 +119,6 @@ protected:
float yaw_ff; /**< yaw control feed-forward */
float yaw_rate_max; /**< max yaw rate */
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
math::Vector<3> acro_rate_max; /**< max attitude rates in acro mode */
int32_t autostart_id;

29
src/modules/mc_att_control_multiplatform/mc_att_control_params.c
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@ -189,35 +189,6 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_R_MAX);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_P_MAX);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX);
/**
* Max acro roll rate
*

3
src/modules/mc_att_control_multiplatform/mc_att_control_params.h
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@ -57,9 +57,6 @@
#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

10
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
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@ -82,7 +82,10 @@ MulticopterPositionControl::MulticopterPositionControl() :
.xy_ff = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT),
.tilt_max_air = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
.land_speed = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
.tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT)
.tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT),
.man_roll_max = px4::ParameterFloat("MC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT)
}),
_ref_alt(0.0f),
_ref_timestamp(0),
@ -146,6 +149,11 @@ MulticopterPositionControl::parameters_update()
_params.land_speed = _params_handles.land_speed.update();
_params.tilt_max_land = math::radians(_params_handles.tilt_max_land.update());
/* manual control scale */
_params.man_roll_max = math::radians(_params_handles.man_roll_max.update());
_params.man_pitch_max = math::radians(_params_handles.man_pitch_max.update());
_params.man_yaw_max = math::radians(_params_handles.man_yaw_max.update());
_params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update();
_params.pos_p(2) = _params_handles.z_p.update();
_params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update();

6
src/modules/mc_pos_control_multiplatform/mc_pos_control.h
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@ -126,6 +126,9 @@ protected:
px4::ParameterFloat tilt_max_air;
px4::ParameterFloat land_speed;
px4::ParameterFloat tilt_max_land;
px4::ParameterFloat man_roll_max;
px4::ParameterFloat man_pitch_max;
px4::ParameterFloat man_yaw_max;
} _params_handles; /**< handles for interesting parameters */
struct {
@ -134,6 +137,9 @@ protected:
float tilt_max_air;
float land_speed;
float tilt_max_land;
float man_roll_max;
float man_pitch_max;
float man_yaw_max;
math::Vector<3> pos_p;
math::Vector<3> vel_p;

29
src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c
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@ -210,3 +210,32 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
*/
PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
/**
* Max manual roll
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
/**
* Max manual yaw rate
*
* @unit deg/s
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX);

3
src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h
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@ -58,4 +58,7 @@
#define PARAM_MPC_TILTMAX_AIR_DEFAULT 45.0f
#define PARAM_MPC_TILTMAX_LND_DEFAULT 15.0f
#define PARAM_MPC_LAND_SPEED_DEFAULT 1.0f
#define PARAM_MPC_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MPC_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MPC_MAN_Y_MAX_DEFAULT 120.0f