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.
2026-10-27 20:23:34 +08:00 · 2023-06-26 17:01:20 +02:00
parent 20d0661e87
commit d00ad1b815
11 changed files with 1179 additions and 898 deletions
@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * Maximal tilt angle in manual or altitude mode
+ *
+ * @unit deg
+ * @min 0.0
+ * @max 90.0
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
+
+/**
+ * Max manual yaw rate
+ *
+ * @unit deg/s
+ * @min 0.0
+ * @max 400
+ * @decimal 1
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 150.0f);
+
+/**
+ * Minimum manual thrust
+ *
+ * Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
+ * With MC_AIRMODE set to 1, this can safely be set to 0.
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
+
+/**
+ * Thrust curve in Manual Mode
+ *
+ * This parameter defines how the throttle stick input is mapped to commanded thrust
+ * in Manual/Stabilized flight mode.
+ *
+ * In case the default is used ('Rescale to hover thrust'), the stick input is linearly
+ * rescaled, such that a centered stick corresponds to the hover throttle (see MPC_THR_HOVER).
+ *
+ * Select 'No Rescale' to directly map the stick 1:1 to the output. This can be useful
+ * in case the hover thrust is very low and the default would lead to too much distortion
+ * (e.g. if hover thrust is set to 20%, 80% of the upper thrust range is squeezed into the
+ * upper half of the stick range).
+ *
+ * Note: In case MPC_THR_HOVER is set to 50%, the modes 0 and 1 are the same.
+ *
+ * @value 0 Rescale to hover thrust
+ * @value 1 No Rescale
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_INT32(MPC_THR_CURVE, 0);