From c31c29097d603abb6b87ab305cfe99b7688eb4d1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 10 May 2016 09:27:00 +0200 Subject: [PATCH] Rename params, add transitional support --- .../mc_pos_control/mc_pos_control_main.cpp | 10 ++++++++- .../mc_pos_control/mc_pos_control_params.c | 22 ++++++++++++++----- 2 files changed, 25 insertions(+), 7 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 8fb6da8af2..7421878c54 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -442,7 +442,15 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.z_vel_i = param_find("MPC_Z_VEL_I"); _params_handles.z_vel_d = param_find("MPC_Z_VEL_D"); _params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP"); - _params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX_DOWN"); + _params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX"); + + // transitional support: Copy param values from max to down + // param so that max param can be renamed in 1-2 releases + // (currently at 1.3.0) + float p; + param_get(param_find("MPC_Z_VEL_MAX"), &p); + param_set(param_find("MPC_Z_VEL_MAX_DN"), &p); + _params_handles.z_ff = param_find("MPC_Z_FF"); _params_handles.xy_p = param_find("MPC_XY_P"); _params_handles.xy_vel_p = param_find("MPC_XY_VEL_P"); diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 2b258cf0eb..88ad616431 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -189,12 +189,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); /** - * Maximum vertical velocity + * Maximum vertical ascent velocity * * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). * * @unit m/s - * @min 0.0 + * @min 0.5 * @max 8.0 * @decimal 1 * @group Multicopter Position Control @@ -202,16 +202,26 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f); /** - * Maximum vertical velocity in positive z direction (descending) + * Maximum vertical descent velocity * * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). * * @unit m/s - * @min 0.0 - * @max 8.0 + * @min 0.5 + * @max 4.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DOWN, 1.0f); +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f); + +/** + * Transitional support, do not change / use + * + * @unit m/s + * @min 0.5 + * @max 4.0 + * @group Multicopter Position Control + */ +PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f); /** * Vertical velocity feed forward