mc_pos_control: separate parameter metadata into multiple files

because the original file was almost 1k lines and
the order of parameters more historical than after topic.

src/modules/mc_pos_control/multicopter_autonomous_params.c

@@ -0,0 +1,166 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Default horizontal velocity in mission
+ *
+ * Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
+ *
+ * @unit m/s
+ * @min 3.0
+ * @max 20.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
+
+/**
+ * Automatic ascent velocity
+ *
+ * Ascent velocity in auto modes.
+ * For manual modes and offboard, see MPC_Z_VEL_MAX_UP
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 8.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
+
+/**
+ * Automatic descent velocity
+ *
+ * Descent velocity in auto modes.
+ * For manual modes and offboard, see MPC_Z_VEL_MAX_DN
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 4.0
+ * @increment 0.1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
+
+/**
+ * Acceleration for auto and for manual
+ *
+ * Note: In manual, this parameter is only used in MPC_POS_MODE 4.
+ *
+ * @unit m/s^2
+ * @min 2.0
+ * @max 15.0
+ * @increment 1
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+
+PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
+
+/**
+ * Jerk limit in auto mode
+ *
+ * Limit the maximum jerk of the vehicle (how fast the acceleration can change).
+ * A lower value leads to smoother vehicle motions, but it also limits its
+ * agility.
+ *
+ * @unit m/s^3
+ * @min 1.0
+ * @max 80.0
+ * @increment 1
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
+
+/**
+ * Proportional gain for horizontal trajectory position error
+ *
+ * @min 0.1
+ * @max 1.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
+
+/**
+ * Maximum horizontal error allowed by the trajectory generator
+ *
+ * The integration speed of the trajectory setpoint is linearly
+ * reduced with the horizontal position tracking error. When the
+ * error is above this parameter, the integration of the
+ * trajectory is stopped to wait for the drone.
+ *
+ * This value can be adjusted depending on the tracking
+ * capabilities of the vehicle.
+ *
+ * @min 0.1
+ * @max 10.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
+
+/**
+ * Max yaw rate in auto mode
+ *
+ * Limit the rate of change of the yaw setpoint in autonomous mode
+ * to avoid large control output and mixer saturation.
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 360.0
+ * @decimal 1
+ * @increment 5
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
+
+/**
+ * Yaw mode.
+ *
+ * Specifies the heading in Auto.
+ *
+ * @min 0
+ * @max 4
+ * @value 0 towards waypoint
+ * @value 1 towards home
+ * @value 2 away from home
+ * @value 3 along trajectory
+ * @value 4 towards waypoint (yaw first)
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);