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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/Utility/ManualSmoothingXY.cpp
+12 -12
View File
@@ -46,8 +46,8 @@ ManualSmoothingXY::ManualSmoothingXY(ModuleParams *parent, const Vector2f &vel)
ModuleParams(parent), _vel_sp_prev(vel)
{
_acc_state_dependent = _acc_xy_max.get();
_jerk_state_dependent = _jerk_max.get();
_acc_state_dependent = _param_mpc_acc_hor.get();
_jerk_state_dependent = _param_mpc_jerk_max.get();
}
void
@@ -134,17 +134,17 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
} else if (intention != _intention) {
// start the brake with lowest acceleration which
// makes stopping smoother
_acc_state_dependent = _dec_xy_min.get();
_acc_state_dependent = _param_mpc_dec_hor_slow.get();
// Adjust jerk based on current velocity. This ensures
// that the vehicle will stop much quicker at large speed but
// very slow at low speed.
_jerk_state_dependent = 1e6f; // default
if (_jerk_max.get() > _jerk_min.get() && _jerk_min.get() > FLT_EPSILON) {
if (_param_mpc_jerk_max.get() > _param_mpc_jerk_min.get() && _param_mpc_jerk_min.get() > FLT_EPSILON) {
_jerk_state_dependent = math::min((_jerk_max.get() - _jerk_min.get())
/ _vel_max * vel.length() + _jerk_min.get(), _jerk_max.get());
_jerk_state_dependent = math::min((_param_mpc_jerk_max.get() - _param_mpc_jerk_min.get())
/ _vel_max * vel.length() + _param_mpc_jerk_min.get(), _param_mpc_jerk_max.get());
}
// User wants to brake smoothly but does NOT want the vehicle to
@@ -154,14 +154,14 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
}
/* limit jerk when braking to zero */
float jerk = (_acc_hover.get() - _acc_state_dependent) / dt;
float jerk = (_param_mpc_acc_hor_max.get() - _acc_state_dependent) / dt;
if (jerk > _jerk_state_dependent) {
_acc_state_dependent = _jerk_state_dependent * dt
+ _acc_state_dependent;
} else {
_acc_state_dependent = _acc_hover.get();
_acc_state_dependent = _param_mpc_acc_hor_max.get();
}
break;
@@ -174,19 +174,19 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
// Because previous setpoint is equal to current setpoint,
// slewrate will have no effect. Nonetheless, just set
// acceleration to maximum.
_acc_state_dependent = _acc_hover.get();
_acc_state_dependent = _param_mpc_acc_hor_max.get();
break;
}
case Intention::acceleration: {
// Limit acceleration linearly based on velocity setpoint.
_acc_state_dependent = (_acc_xy_max.get() - _dec_xy_min.get())
/ _vel_max * vel_sp.length() + _dec_xy_min.get();
_acc_state_dependent = (_param_mpc_acc_hor.get() - _param_mpc_dec_hor_slow.get())
/ _vel_max * vel_sp.length() + _param_mpc_dec_hor_slow.get();
break;
}
case Intention::deceleration: {
_acc_state_dependent = _dec_xy_min.get();
_acc_state_dependent = _param_mpc_dec_hor_slow.get();
break;
}
}
src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
+11 -11
View File
@@ -97,11 +97,11 @@ public:
* Overwrite methods:
* Needed if different parameter values than default required.
*/
void overwriteHoverAcceleration(float acc) { _acc_hover.set(acc); }
void overwriteMaxAcceleration(float acc) { _acc_xy_max.set(acc); }
void overwriteDecelerationMin(float dec) { _dec_xy_min.set(dec); }
void overwriteJerkMax(float jerk) { _jerk_max.set(jerk); }
void overwriteJerkMin(float jerk) { _jerk_min.set(jerk); }
void overwriteHoverAcceleration(float acc) { _param_mpc_acc_hor_max.set(acc); }
void overwriteMaxAcceleration(float acc) { _param_mpc_acc_hor.set(acc); }
void overwriteDecelerationMin(float dec) { _param_mpc_dec_hor_slow.set(dec); }
void overwriteJerkMax(float jerk) { _param_mpc_jerk_max.set(jerk); }
void overwriteJerkMin(float jerk) { _param_mpc_jerk_min.set(jerk); }
private:
/**
@@ -165,11 +165,11 @@ private:
matrix::Vector2f _vel_sp_prev; /**< previous velocity setpoint */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _acc_hover, /**< acceleration in hover */
(ParamFloat<px4::params::MPC_ACC_HOR>) _acc_xy_max, /**< acceleration in flight */
(ParamFloat<px4::params::MPC_DEC_HOR_SLOW>) _dec_xy_min, /**< deceleration in flight */
(ParamFloat<px4::params::MPC_JERK_MIN>) _jerk_min, /**< jerk min during brake */
(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max, /**< jerk max during brake */
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _vel_manual /**< maximum velocity in manual controlled mode */
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max, /**< acceleration in hover */
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, /**< acceleration in flight */
(ParamFloat<px4::params::MPC_DEC_HOR_SLOW>) _param_mpc_dec_hor_slow, /**< deceleration in flight */
(ParamFloat<px4::params::MPC_JERK_MIN>) _param_mpc_jerk_min, /**< jerk min during brake */
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< jerk max during brake */
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual /**< maximum velocity in manual controlled mode */
)
};
src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.cpp
+14 -14
View File
@@ -43,8 +43,8 @@ ManualSmoothingZ::ManualSmoothingZ(ModuleParams *parent, const float &vel, const
ModuleParams(parent),
_vel(vel), _stick(stick), _vel_sp_prev(vel)
{
_acc_state_dependent = _acc_max_up.get();
_max_acceleration = _acc_max_up.get();
_acc_state_dependent = _param_mpc_acc_up_max.get();
_max_acceleration = _param_mpc_acc_up_max.get();
}
void
@@ -77,7 +77,7 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
if ((_intention != ManualIntentionZ::brake) && (intention == ManualIntentionZ::brake)) {
// we start with lowest acceleration
_acc_state_dependent = _acc_max_down.get();
_acc_state_dependent = _param_mpc_acc_down_max.get();
// reset slew-rate: this ensures that there
// is no delay present when user demands to brake
@@ -89,13 +89,13 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
case ManualIntentionZ::brake: {
// limit jerk when braking to zero
float jerk = (_acc_max_up.get() - _acc_state_dependent) / dt;
float jerk = (_param_mpc_acc_up_max.get() - _acc_state_dependent) / dt;
if (jerk > _jerk_max.get()) {
_acc_state_dependent = _jerk_max.get() * dt + _acc_state_dependent;
if (jerk > _param_mpc_jerk_max.get()) {
_acc_state_dependent = _param_mpc_jerk_max.get() * dt + _acc_state_dependent;
} else {
_acc_state_dependent = _acc_max_up.get();
_acc_state_dependent = _param_mpc_acc_up_max.get();
}
break;
@@ -103,8 +103,8 @@ ManualSmoothingZ::updateAcceleration(float &vel_sp, const float dt)
case ManualIntentionZ::acceleration: {
_acc_state_dependent = (getMaxAcceleration() - _acc_max_down.get())
* fabsf(_stick) + _acc_max_down.get();
_acc_state_dependent = (getMaxAcceleration() - _param_mpc_acc_down_max.get())
* fabsf(_stick) + _param_mpc_acc_down_max.get();
break;
}
}
@@ -117,26 +117,26 @@ ManualSmoothingZ::setMaxAcceleration()
{
if (_stick < -FLT_EPSILON) {
// accelerating upward
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
} else if (_stick > FLT_EPSILON) {
// accelerating downward
_max_acceleration = _acc_max_down.get();
_max_acceleration = _param_mpc_acc_down_max.get();
} else {
// want to brake
if (fabsf(_vel_sp_prev) < FLT_EPSILON) {
// at rest
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
} else if (_vel_sp_prev < 0.0f) {
// braking downward
_max_acceleration = _acc_max_down.get();
_max_acceleration = _param_mpc_acc_down_max.get();
} else {
// braking upward
_max_acceleration = _acc_max_up.get();
_max_acceleration = _param_mpc_acc_up_max.get();
}
}
}
src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
+6 -6
View File
@@ -82,9 +82,9 @@ public:
* Overwrite methods:
* Needed if different parameter values than default required.
*/
void overwriteAccelerationUp(float acc_max_up) { _acc_max_up.set(acc_max_up); }
void overwriteAccelerationDown(float acc_max_down) {_acc_max_down.set(acc_max_down); }
void overwriteJerkMax(float jerk_max) {_jerk_max.set(jerk_max); }
void overwriteAccelerationUp(float acc_max_up) { _param_mpc_acc_up_max.set(acc_max_up); }
void overwriteAccelerationDown(float acc_max_down) {_param_mpc_acc_down_max.set(acc_max_down); }
void overwriteJerkMax(float jerk_max) {_param_mpc_jerk_max.set(jerk_max); }
private:
/**
@@ -126,8 +126,8 @@ private:
float _vel_sp_prev; /**< previous velocity setpoint */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _acc_max_up,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _acc_max_down,
(ParamFloat<px4::params::MPC_JERK_MAX>) _jerk_max
(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_MAX>) _param_mpc_jerk_max
)
};
src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+8 -7
View File
@@ -56,7 +56,7 @@ void StraightLine::generateSetpoints(matrix::Vector3f &position_setpoint, matrix
{
// Check if target position has been reached
if (_desired_speed_at_target < VEL_ZERO_THRESHOLD &&
(_pos - _target).length() < NAV_ACC_RAD.get()) {
(_pos - _target).length() < _param_nav_acc_rad.get()) {
// Vehicle has reached target. Lock position
position_setpoint = _target;
velocity_setpoint = Vector3f(0.0f, 0.0f, 0.0f);
@@ -107,7 +107,7 @@ float StraightLine::getMaxAcc()
{
// check if origin and target are different points
if ((_target - _origin).length() < FLT_EPSILON) {
return MPC_ACC_HOR_MAX.get();
return _param_mpc_acc_hor_max.get();
}
// unit vector in the direction of the straight line
@@ -115,7 +115,7 @@ float StraightLine::getMaxAcc()
// calculate the maximal horizontal acceleration
float divider = Vector2f(u_orig_to_target).length();
float max_acc_hor = MPC_ACC_HOR_MAX.get();
float max_acc_hor = _param_mpc_acc_hor_max.get();
if (divider > FLT_EPSILON) {
max_acc_hor /= divider;
@@ -125,7 +125,7 @@ float StraightLine::getMaxAcc()
}
// calculate the maximal vertical acceleration
float max_acc_vert_original = u_orig_to_target(2) < 0 ? MPC_ACC_UP_MAX.get() : MPC_ACC_DOWN_MAX.get();
float max_acc_vert_original = u_orig_to_target(2) < 0 ? _param_mpc_acc_up_max.get() : _param_mpc_acc_down_max.get();
float max_acc_vert = max_acc_vert_original;
if (fabs(u_orig_to_target(2)) > FLT_EPSILON) {
@@ -142,7 +142,7 @@ float StraightLine::getMaxVel()
{
// check if origin and target are different points
if ((_target - _origin).length() < FLT_EPSILON) {
return MPC_XY_VEL_MAX.get();
return _param_mpc_xy_vel_max.get();
}
// unit vector in the direction of the straight line
@@ -150,7 +150,7 @@ float StraightLine::getMaxVel()
// calculate the maximal horizontal velocity
float divider = Vector2f(u_orig_to_target).length();
float max_vel_hor = MPC_XY_VEL_MAX.get();
float max_vel_hor = _param_mpc_xy_vel_max.get();
if (divider > FLT_EPSILON) {
max_vel_hor /= divider;
@@ -160,7 +160,8 @@ float StraightLine::getMaxVel()
}
// calculate the maximal vertical velocity
float max_vel_vert_directional = u_orig_to_target(2) < 0 ? MPC_Z_VEL_MAX_UP.get() : MPC_Z_VEL_MAX_DN.get();
float max_vel_vert_directional = u_orig_to_target(2) < 0 ? _param_mpc_z_vel_max_up.get() :
_param_mpc_z_vel_max_dn.get();
float max_vel_vert = max_vel_vert_directional;
if (fabs(u_orig_to_target(2)) > FLT_EPSILON) {
src/lib/FlightTasks/tasks/Utility/StraightLine.hpp
+7 -7
View File
@@ -96,13 +96,13 @@ private:
// parameters for default values
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) MPC_ACC_HOR_MAX, /**< maximum horizontal acceleration */
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX, /**< maximum vertical acceleration upwards */
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX, /**< maximum vertical acceleration downwards*/
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) MPC_XY_VEL_MAX, /**< maximum horizontal velocity */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) MPC_Z_VEL_MAX_UP, /**< maximum vertical velocity upwards */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) MPC_Z_VEL_MAX_DN, /**< maximum vertical velocity downwards */
(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD /**< acceptance radius if a waypoint is reached */
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max, /**< maximum horizontal acceleration */
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max, /**< maximum vertical acceleration upwards */
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max, /**< maximum vertical acceleration downwards*/
(ParamFloat<px4::params::MPC_XY_VEL_MAX>) _param_mpc_xy_vel_max, /**< maximum horizontal velocity */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up, /**< maximum vertical velocity upwards */
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn, /**< maximum vertical velocity downwards */
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad /**< acceptance radius if a waypoint is reached */
)
};