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refactor(mc_hover_thrust_estimator): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
@@ -44,6 +44,8 @@ px4_add_module(
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SRCS
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MulticopterHoverThrustEstimator.cpp
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MulticopterHoverThrustEstimator.hpp
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MODULE_CONFIG
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hover_thrust_estimator_params.yaml
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DEPENDS
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hysteresis
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mathlib
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@@ -1,132 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file hover_thrust_estimator_params.c
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*
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* Parameters used by the hover thrust estimator
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*
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* @author Mathieu Bresciani <brescianimathieu@gmail.com>
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*/
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/**
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* Hover thrust process noise
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*
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* Reduce to make the hover thrust estimate
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* more stable, increase if the real hover thrust
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* is expected to change quickly over time.
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*
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* @decimal 4
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* @min 0.0001
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* @max 1.0
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* @unit normalized_thrust/s
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_HT_NOISE, 0.0036);
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/**
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* Gate size for acceleration fusion
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*
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* Sets the number of standard deviations used
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* by the innovation consistency test.
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*
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* @decimal 1
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* @min 1.0
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* @max 10.0
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* @unit SD
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_ACC_GATE, 3.0);
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/**
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* 1-sigma initial hover thrust uncertainty
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*
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* Sets the number of standard deviations used
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* by the innovation consistency test.
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*
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* @decimal 3
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* @min 0.0
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* @max 1.0
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* @unit normalized_thrust
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_HT_ERR_INIT, 0.1);
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/**
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* Horizontal velocity threshold for sensitivity reduction
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*
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* Above this speed, the measurement noise is linearly increased
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* to reduce the sensitivity of the estimator from biased measurement.
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*
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* Set to a low value on vehicles with large lifting surfaces.
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*
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* @decimal 1
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* @min 1.0
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* @max 20.0
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* @unit m/s
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_VXY_THR, 10.0);
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/**
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* Vertical velocity threshold for sensitivity reduction
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*
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* Above this speed, the measurement noise is linearly increased
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* to reduce the sensitivity of the estimator from biased measurement.
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*
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* Set to a low value on vehicles affected by air drag when climbing or descending.
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*
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* @decimal 1
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* @min 1.0
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* @max 10.0
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* @unit m/s
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_VZ_THR, 2.0);
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/**
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* Max deviation from MPC_THR_HOVER
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*
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* Defines the range of the hover thrust estimate around MPC_THR_HOVER.
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* A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7].
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*
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* Set to a large value if the vehicle operates in varying physical conditions that
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* affect the required hover thrust strongly (e.g. differently sized payloads).
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*
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* @decimal 2
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* @min 0.01
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* @max 0.4
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* @unit normalized_thrust
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* @group Hover Thrust Estimator
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*/
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PARAM_DEFINE_FLOAT(HTE_THR_RANGE, 0.2);
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@@ -0,0 +1,84 @@
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module_name: mc_hover_thrust_estimator
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parameters:
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- group: Hover Thrust Estimator
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definitions:
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HTE_HT_NOISE:
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description:
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short: Hover thrust process noise
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long: |-
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Reduce to make the hover thrust estimate
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more stable, increase if the real hover thrust
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is expected to change quickly over time.
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type: float
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default: 0.0036
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decimal: 4
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min: 0.0001
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max: 1.0
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unit: normalized_thrust/s
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HTE_ACC_GATE:
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description:
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short: Gate size for acceleration fusion
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long: |-
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Sets the number of standard deviations used
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by the innovation consistency test.
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type: float
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default: 3.0
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decimal: 1
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min: 1.0
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max: 10.0
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unit: SD
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HTE_HT_ERR_INIT:
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description:
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short: 1-sigma initial hover thrust uncertainty
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long: |-
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Sets the number of standard deviations used
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by the innovation consistency test.
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type: float
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default: 0.1
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decimal: 3
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min: 0.0
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max: 1.0
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unit: normalized_thrust
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HTE_VXY_THR:
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description:
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short: Horizontal velocity threshold for sensitivity reduction
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long: |-
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Above this speed, the measurement noise is linearly increased
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to reduce the sensitivity of the estimator from biased measurement.
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Set to a low value on vehicles with large lifting surfaces.
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type: float
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default: 10.0
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decimal: 1
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min: 1.0
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max: 20.0
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unit: m/s
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HTE_VZ_THR:
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description:
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short: Vertical velocity threshold for sensitivity reduction
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long: |-
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Above this speed, the measurement noise is linearly increased
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to reduce the sensitivity of the estimator from biased measurement.
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Set to a low value on vehicles affected by air drag when climbing or descending.
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type: float
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default: 2.0
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decimal: 1
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min: 1.0
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max: 10.0
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unit: m/s
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HTE_THR_RANGE:
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description:
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short: Max deviation from MPC_THR_HOVER
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long: |-
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Defines the range of the hover thrust estimate around MPC_THR_HOVER.
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A value of 0.2 with MPC_THR_HOVER at 0.5 results in a range of [0.3, 0.7].
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Set to a large value if the vehicle operates in varying physical conditions that
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affect the required hover thrust strongly (e.g. differently sized payloads).
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type: float
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default: 0.2
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decimal: 2
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min: 0.01
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max: 0.4
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unit: normalized_thrust
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