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FlightTaskAuto: move in parameters from FlightTaskAutoLineSmoothVel

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This commit is contained in:
Matthias Grob 2021-11-15 20:43:10 +01:00
parent 50e13f132f
commit aa376c5824
2 changed files with 17 additions and 21 deletions
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18
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
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@ -142,7 +142,23 @@ protected:
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamBool<px4::params::WV_EN>) _param_wv_en // enable/disable weather vane (VTOL)
(ParamBool<px4::params::WV_EN>) _param_wv_en, // enable/disable weather vane (VTOL)
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
);
private:

20
src/modules/flight_mode_manager/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
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@ -83,24 +83,4 @@ protected:
bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
void updateParams() override; /**< See ModuleParam class */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
(ParamFloat<px4::params::MPC_LAND_ALT1>)
_param_mpc_land_alt1, // altitude at which speed limit downwards reaches maximum speed
(ParamFloat<px4::params::MPC_LAND_ALT2>)
_param_mpc_land_alt2, // altitude at which speed limit downwards reached minimum speed
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
);
};