Unify optical flow height limiting

2026-10-25 01:53:33 +08:00 · 2018-06-09 13:38:04 +02:00
parent 0113212b34
commit b3c5e53333
4 changed files with 93 additions and 61 deletions
@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * PX4Flow board rotation
+ *
+ * This parameter defines the yaw rotation of the PX4FLOW board relative to the vehicle body frame.
+ * Zero rotation is defined as X on flow board pointing towards front of vehicle.
+ * The recommneded installation default for the PX4FLOW board is with the Y axis forward (270 deg yaw).
+ *
+ * @value 0 No rotation
+ * @value 1 Yaw 45°
+ * @value 2 Yaw 90°
+ * @value 3 Yaw 135°
+ * @value 4 Yaw 180°
+ * @value 5 Yaw 225°
+ * @value 6 Yaw 270°
+ * @value 7 Yaw 315°
+ *
+ * @reboot_required true
+ *
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_FLOW_ROT, 6);
+
+/**
+ * Minimum height above ground when reliant on optical flow.
+ *
+ * This parameter defines the minimum distance from ground at which the optical flow sensor operates reliably.
+ * The sensor may be usable below this height, but accuracy will progressively reduce to loss of focus.
+ *
+ * @unit m
+ * @min 0.0
+ * @max 1.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.7f);
+
+/**
+ * Maximum height above ground when reliant on optical flow.
+ *
+ * This parameter defines the maximum distance from ground at which the optical flow sensor operates reliably.
+ * The height setpoint will be limited to be no greater than this value when the navigation system
+ * is completely reliant on optical flow data and the height above ground estimate is valid.
+ * The sensor may be usable above this height, but accuracy will progressively degrade.
+ *
+ * @unit m
+ * @min 1.0
+ * @max 25.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Sensor Calibration
+ */
+PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f);