fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Parameter update - Rename variables in lib

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+12 -12
View File
@@ -71,7 +71,7 @@ bool FlightTaskManualAltitude::activate()
_velocity_setpoint(2) = 0.0f;
_setDefaultConstraints();
_constraints.tilt = math::radians(MPC_MAN_TILT_MAX.get());
_constraints.tilt = math::radians(_param_mpc_man_tilt_max.get());
if (PX4_ISFINITE(_sub_vehicle_local_position->get().hagl_min)) {
_constraints.min_distance_to_ground = _sub_vehicle_local_position->get().hagl_min;
@@ -96,7 +96,7 @@ bool FlightTaskManualAltitude::activate()
void FlightTaskManualAltitude::_scaleSticks()
{
// Use sticks input with deadzone and exponential curve for vertical velocity and yawspeed
_yawspeed_setpoint = _sticks_expo(3) * math::radians(MPC_MAN_Y_MAX.get());
_yawspeed_setpoint = _sticks_expo(3) * math::radians(_param_mpc_man_y_max.get());
const float vel_max_z = (_sticks(2) > 0.0f) ? _constraints.speed_down : _constraints.speed_up;
_velocity_setpoint(2) = vel_max_z * _sticks_expo(2);
@@ -111,11 +111,11 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
const bool apply_brake = fabsf(_sticks_expo(2)) <= FLT_EPSILON;
// Check if vehicle has stopped
const bool stopped = (MPC_HOLD_MAX_Z.get() < FLT_EPSILON || fabsf(_velocity(2)) < MPC_HOLD_MAX_Z.get());
const bool stopped = (_param_mpc_hold_max_z.get() < FLT_EPSILON || fabsf(_velocity(2)) < _param_mpc_hold_max_z.get());
// Manage transition between use of distance to ground and distance to local origin
// when terrain hold behaviour has been selected.
if (MPC_ALT_MODE.get() == 2) {
if (_param_mpc_alt_mode.get() == 2) {
// Use horizontal speed as a transition criteria
float spd_xy = Vector2f(_velocity).length();
@@ -124,7 +124,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
bool stick_input = stick_xy > 0.001f;
if (_terrain_hold) {
bool too_fast = spd_xy > MPC_HOLD_MAX_XY.get();
bool too_fast = spd_xy > _param_mpc_hold_max_xy.get();
if (stick_input || too_fast || !PX4_ISFINITE(_dist_to_bottom)) {
// Stop using distance to ground
@@ -141,7 +141,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
}
} else {
bool not_moving = spd_xy < 0.5f * MPC_HOLD_MAX_XY.get();
bool not_moving = spd_xy < 0.5f * _param_mpc_hold_max_xy.get();
if (!stick_input && not_moving && PX4_ISFINITE(_dist_to_bottom)) {
// Start using distance to ground
@@ -157,7 +157,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
}
if ((MPC_ALT_MODE.get() == 1 || _terrain_follow) && PX4_ISFINITE(_dist_to_bottom)) {
if ((_param_mpc_alt_mode.get() == 1 || _terrain_follow) && PX4_ISFINITE(_dist_to_bottom)) {
// terrain following
_terrainFollowing(apply_brake, stopped);
// respect maximum altitude
@@ -242,7 +242,7 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
// if there is a valid maximum distance to ground, linearly increase speed limit with distance
// below the maximum, preserving control loop vertical position error gain.
if (PX4_ISFINITE(_constraints.max_distance_to_ground)) {
_constraints.speed_up = math::constrain(MPC_Z_P.get() * (_constraints.max_distance_to_ground - _dist_to_bottom),
_constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_constraints.max_distance_to_ground - _dist_to_bottom),
-_min_speed_down, _max_speed_up);
} else {
@@ -280,11 +280,11 @@ void FlightTaskManualAltitude::_respectGroundSlowdown()
// limit speed gradually within the altitudes MPC_LAND_ALT1 and MPC_LAND_ALT2
if (PX4_ISFINITE(dist_to_ground)) {
const float limit_down = math::gradual(dist_to_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);
const float limit_up = math::gradual(dist_to_ground,
MPC_LAND_ALT2.get(), MPC_LAND_ALT1.get(),
MPC_TKO_SPEED.get(), _constraints.speed_up);
_param_mpc_land_alt2.get(), _param_mpc_land_alt1.get(),
_param_mpc_tko_speed.get(), _constraints.speed_up);
_velocity_setpoint(2) = math::constrain(_velocity_setpoint(2), -limit_up, limit_down);
}
}