diff --git a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp index c540baca19..b4eba96115 100644 --- a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp +++ b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp @@ -83,7 +83,7 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo Vector3f body_x = y_C % body_z; // keep nose to front while inverted upside down - if (body_z(2) < 0.0f) { + if (body_z(2) < 0.f) { body_x = -body_x; } @@ -91,7 +91,7 @@ void bodyzToAttitude(Vector3f body_z, const float yaw_sp, vehicle_attitude_setpo // desired thrust is in XY plane, set X downside to construct correct matrix, // but yaw component will not be used actually body_x.zero(); - body_x(2) = 1.0f; + body_x(2) = 1.f; } body_x.normalize(); @@ -201,7 +201,7 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r, // we have triangle CDX with known CD and CX = R, find DX float dx_len = sqrtf(sphere_r * sphere_r - cd_len * cd_len); - if ((sphere_c - line_b) * ab_norm > 0.0f) { + if ((sphere_c - line_b) * ab_norm > 0.f) { // target waypoint is already behind us res = line_b; @@ -218,12 +218,12 @@ bool cross_sphere_line(const Vector3f &sphere_c, const float sphere_r, res = d; // go directly to line // previous waypoint is still in front of us - if ((sphere_c - line_a) * ab_norm < 0.0f) { + if ((sphere_c - line_a) * ab_norm < 0.f) { res = line_a; } // target waypoint is already behind us - if ((sphere_c - line_b) * ab_norm > 0.0f) { + if ((sphere_c - line_b) * ab_norm > 0.f) { res = line_b; } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 8e58fa66d1..1371523c8d 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -152,8 +152,8 @@ void PositionControl::_velocityControl(const float dt) _accelerationControl(); // Integrator anti-windup in vertical direction - if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.0f) || - (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.0f)) { + if ((_thr_sp(2) >= -_lim_thr_min && vel_error(2) >= 0.f) || + (_thr_sp(2) <= -_lim_thr_max && vel_error(2) <= 0.f)) { vel_error(2) = 0.f; } diff --git a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp index edfe9e8eb4..d718ef687b 100644 --- a/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp +++ b/src/modules/mc_pos_control/Takeoff/TakeoffTest.cpp @@ -46,7 +46,7 @@ TEST(TakeoffTest, RegularTakeoffRamp) { TakeoffHandling takeoff; takeoff.setSpoolupTime(1.f); - takeoff.setTakeoffRampTime(2.0); + takeoff.setTakeoffRampTime(2.f); takeoff.generateInitialRampValue(CONSTANTS_ONE_G / 0.5f); // disarmed, landed, don't want takeoff diff --git a/src/modules/mc_pos_control/multicopter_autonomous_params.c b/src/modules/mc_pos_control/multicopter_autonomous_params.c index 4e55c05ba7..8596cedd8b 100644 --- a/src/modules/mc_pos_control/multicopter_autonomous_params.c +++ b/src/modules/mc_pos_control/multicopter_autonomous_params.c @@ -37,13 +37,13 @@ * e.g. in Missions, RTL, Goto if the waypoint does not specify differently * * @unit m/s - * @min 3.0 - * @max 20.0 + * @min 3 + * @max 20 * @decimal 0 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f); +PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.f); /** * Ascent velocity in autonomous modes @@ -52,7 +52,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f); * * @unit m/s * @min 0.5 - * @max 8.0 + * @max 8 * @decimal 1 * @increment 0.5 * @group Multicopter Position Control @@ -66,7 +66,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f); * * @unit m/s * @min 0.5 - * @max 4.0 + * @max 4 * @decimal 1 * @increment 0.5 * @group Multicopter Position Control @@ -79,13 +79,13 @@ PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f); * When piloting manually, this parameter is only used in MPC_POS_MODE 4. * * @unit m/s^2 - * @min 2.0 - * @max 15.0 + * @min 2 + * @max 15 * @decimal 1 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.f); /** * Jerk limit in autonomous modes @@ -94,19 +94,19 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f); * A lower value leads to smoother vehicle motions but also limited agility. * * @unit m/s^3 - * @min 1.0 - * @max 80.0 + * @min 1 + * @max 80 * @decimal 1 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f); +PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.f); /** * Proportional gain for horizontal trajectory position error * * @min 0.1 - * @max 1.0 + * @max 1 * @decimal 1 * @increment 0.1 * @group Multicopter Position Control @@ -125,12 +125,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f); * capabilities of the vehicle. * * @min 0.1 - * @max 10.0 + * @max 10 * @decimal 1 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f); +PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.f); /** * Max yaw rate in autonomous modes @@ -139,13 +139,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f); * control output and mixer saturation. * * @unit deg/s - * @min 0.0 - * @max 360.0 + * @min 0 + * @max 360 * @decimal 0 * @increment 5 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.f); /** * Heading behavior in autonomous modes diff --git a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c index 1cee257ac3..1135c9ea2c 100644 --- a/src/modules/mc_pos_control/multicopter_position_control_gain_params.c +++ b/src/modules/mc_pos_control/multicopter_position_control_gain_params.c @@ -42,15 +42,15 @@ * @increment 0.1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_P, 1.f); /** * Proportional gain for horizontal position error * * Defined as corrective velocity in m/s per m position error * - * @min 0.0 - * @max 2.0 + * @min 0 + * @max 2 * @decimal 1 * @increment 0.1 * @group Multicopter Position Control @@ -62,13 +62,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_P, 0.95f); * * Defined as corrective acceleration in m/s^2 per m/s velocity error * - * @min 2.0 - * @max 15.0 + * @min 2 + * @max 15 * @decimal 1 * @increment 0.1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.f); /** * Proportional gain for horizontal velocity error @@ -76,7 +76,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_P_ACC, 4.0f); * Defined as corrective acceleration in m/s^2 per m/s velocity error * * @min 1.2 - * @max 5.0 + * @max 5 * @decimal 1 * @increment 0.1 * @group Multicopter Position Control @@ -89,12 +89,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P_ACC, 1.8f); * Defined as corrective acceleration in m/s^2 per m velocity integral * * @min 0.2 - * @max 3.0 + * @max 3 * @decimal 1 * @increment 0.1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.f); /** * Integral gain for horizontal velocity error @@ -102,8 +102,8 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I_ACC, 2.0f); * Defined as correction acceleration in m/s^2 per m velocity integral * Allows to eliminate steady state errors in disturbances like wind. * - * @min 0.0 - * @max 60.0 + * @min 0 + * @max 60 * @decimal 2 * @increment 0.02 * @group Multicopter Position Control @@ -115,13 +115,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I_ACC, 0.4f); * * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative * - * @min 0.0 - * @max 2.0 + * @min 0 + * @max 2 * @decimal 2 * @increment 0.02 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.f); /** * Differential gain for horizontal velocity error @@ -129,7 +129,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D_ACC, 0.0f); * Defined as corrective acceleration in m/s^2 per m/s^2 velocity derivative * * @min 0.1 - * @max 2.0 + * @max 2 * @decimal 2 * @increment 0.02 * @group Multicopter Position Control diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c index ecab773c12..2b2afe2036 100644 --- a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c +++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c @@ -38,13 +38,13 @@ * Any higher value is truncated. * * @unit m/s - * @min 0.0 - * @max 20.0 + * @min 0 + * @max 20 * @decimal 0 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f); +PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f); /** * Maximum tilt angle in air @@ -53,13 +53,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f); * Any higher value is truncated. * * @unit deg - * @min 20.0 - * @max 89.0 + * @min 20 + * @max 89 * @decimal 0 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.f); /** * Maximum tilt during inital takeoff ramp @@ -67,13 +67,13 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); * Tighter tilt limit during takeoff to avoid tip over. * * @unit deg - * @min 5.0 - * @max 89.0 + * @min 5 + * @max 89 * @decimal 0 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.f); /** * Minimum collective thrust in climb rate controlled modes @@ -96,10 +96,10 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); * Limit allowed thrust e.g. for indoor test of overpowered vehicle. * * @unit norm - * @min 0.0 - * @max 1.0 + * @min 0 + * @max 1 * @decimal 2 * @increment 0.05 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f); diff --git a/src/modules/mc_pos_control/multicopter_position_mode_params.c b/src/modules/mc_pos_control/multicopter_position_mode_params.c index b29dd3b9eb..fc2b5657a2 100644 --- a/src/modules/mc_pos_control/multicopter_position_mode_params.c +++ b/src/modules/mc_pos_control/multicopter_position_mode_params.c @@ -58,13 +58,13 @@ PARAM_DEFINE_INT32(MPC_POS_MODE, 4); * using MPC_VEL_MAN_SIDE and MPC_VEL_MAN_BACK, respectively. * * @unit m/s - * @min 3.0 - * @max 20.0 + * @min 3 + * @max 20 * @increment 1 * @decimal 0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f); +PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.f); /** * Maximum sideways velocity in Position mode @@ -73,13 +73,13 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f); * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. * * @unit m/s - * @min -1.0 - * @max 20.0 + * @min -1 + * @max 20 * @increment 1 * @decimal 0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f); +PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f); /** * Maximum backward velocity in Position mode @@ -88,13 +88,13 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.0f); * MPC_VEL_MANUAL then MPC_VEL_MANUAL is used. * * @unit m/s - * @min -1.0 - * @max 20.0 + * @min -1 + * @max 20 * @increment 1 * @decimal 0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f); +PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f); /** * Maximum ascent velocity in manually piloted climb rate controlled modes and offboard @@ -103,7 +103,7 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.0f); * * @unit m/s * @min 0.5 - * @max 8.0 + * @max 8 * @increment 0.1 * @decimal 1 * @group Multicopter Position Control @@ -117,7 +117,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f); * * @unit m/s * @min 0.5 - * @max 4.0 + * @max 4 * @increment 0.1 * @decimal 1 * @group Multicopter Position Control @@ -133,13 +133,13 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f); * 4 use MPC_ACC_HOR instead * * @unit m/s^2 - * @min 2.0 - * @max 15.0 + * @min 2 + * @max 15 * @increment 1 * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.f); /** * Maximum horizontal and vertical jerk in Position/Altitude mode @@ -154,20 +154,20 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); * * @unit m/s^3 * @min 0.5 - * @max 500.0 + * @max 500 * @decimal 0 * @increment 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f); +PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.f); /** * Deadzone for sticks in manual piloted modes * * Does not apply to manual throttle and direct attitude piloting by stick. * - * @min 0.0 - * @max 1.0 + * @min 0 + * @max 1 * @decimal 2 * @increment 0.01 * @group Multicopter Position Control diff --git a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c index 32ac562741..328a8531ad 100644 --- a/src/modules/mc_pos_control/multicopter_takeoff_land_params.c +++ b/src/modules/mc_pos_control/multicopter_takeoff_land_params.c @@ -43,7 +43,7 @@ * @max 5 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f); +PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.f); /** * Takeoff climb rate @@ -69,7 +69,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f); * @decimal 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.f); /** * Altitude for 2. step of slow landing (landing) @@ -84,7 +84,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f); * @decimal 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f); /** * Altitude for 3. step of slow landing @@ -99,7 +99,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f); * @decimal 1 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_ALT3, 1.f); /** * Landing descend rate