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Parameter update - Rename variables in lib

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using paramter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent ec5da55107
commit b14446f0e5
40 changed files with 245 additions and 231 deletions
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src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.cpp
+5 -5
View File
@@ -66,7 +66,7 @@ void FlightTaskAutoLine::_setSpeedAtTarget()
Vector2f(&(_target - _prev_wp)(0)).unit_or_zero()
* Vector2f(&(_target - _next_wp)(0)).unit_or_zero()
+ 1.0f;
_speed_at_target = math::expontialFromLimits(angle, 0.0f, MPC_CRUISE_90.get(), _mc_cruise_speed);
_speed_at_target = math::expontialFromLimits(angle, 0.0f, _param_mpc_cruise_90.get(), _mc_cruise_speed);
}
}
@@ -171,7 +171,7 @@ void FlightTaskAutoLine::_generateXYsetpoints()
}
// If yaw offset is large, only accelerate with 0.5 m/s^2.
float acc_max = (fabsf(yaw_diff) > math::radians(MIS_YAW_ERR.get())) ? 0.5f : MPC_ACC_HOR.get();
float acc_max = (fabsf(yaw_diff) > math::radians(_param_mis_yaw_err.get())) ? 0.5f : _param_mpc_acc_hor.get();
if (acc_track > acc_max) {
// accelerate towards target
@@ -210,8 +210,8 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
// limit vertical downwards speed (positive z) close to ground
// for now we use the altitude above home and assume that we want to land at same height as we took off
float vel_limit = math::gradual(_alt_above_ground,
MPC_LAND_ALT2.get(), MPC_LAND_ALT1.get(),
MPC_LAND_SPEED.get(), _constraints.speed_down);
_param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(),
_param_mpc_land_speed.get(), _constraints.speed_down);
// Speed at threshold is by default maximum speed. Threshold defines
// the point in z at which vehicle slows down to reach target altitude.
@@ -244,7 +244,7 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
// we want to accelerate
const float acc = (speed_sp - fabsf(_velocity_setpoint(2))) / _deltatime;
const float acc_max = (flying_upward) ? (MPC_ACC_UP_MAX.get() * 0.5f) : (MPC_ACC_DOWN_MAX.get() * 0.5f);
const float acc_max = (flying_upward) ? (_param_mpc_acc_up_max.get() * 0.5f) : (_param_mpc_acc_down_max.get() * 0.5f);
if (acc > acc_max) {
speed_sp = acc_max * _deltatime + fabsf(_velocity_setpoint(2));
src/lib/FlightTasks/tasks/AutoLine/FlightTaskAutoLine.hpp
+4 -4
View File
@@ -51,10 +51,10 @@ public:
protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX
(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
);
void _generateSetpoints() override; /**< Generate setpoints along line. */