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

src/modules/mc_att_control_multiplatform/mc_att_control.cpp

@@ -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());

src/modules/mc_att_control_multiplatform/mc_att_control.h

@@ -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;

src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp

@@ -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();

src/modules/mc_att_control_multiplatform/mc_att_control_base.h

@@ -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;

src/modules/mc_att_control_multiplatform/mc_att_control_params.c

@@ -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
  *

src/modules/mc_att_control_multiplatform/mc_att_control_params.h

@@ -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

src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp

@@ -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();

src/modules/mc_pos_control_multiplatform/mc_pos_control.h

@@ -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;

src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c

@@ -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);
+

src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h

@@ -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