fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor(flight_mode_manager/tasks/ManualAccelerationSlow): convert params.c to module.yaml

Browse Source 
Convert parameter definition(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl 2026-03-17 21:55:34 -08:00 committed by Jacob Dahl
parent 6a1db86110
commit d46b1dcfea
2 changed files with 128 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt
View File

@ -34,6 +34,7 @@
px4_add_library(FlightTaskManualAccelerationSlow
FlightTaskManualAccelerationSlow.cpp
)
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/flight_task_acceleration_slow_params.yaml)
target_include_directories(FlightTaskManualAccelerationSlow PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(FlightTaskManualAccelerationSlow PUBLIC FlightTaskManualAcceleration FlightTaskUtility)

127
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.yaml Normal file
View File

@ -0,0 +1,127 @@
module_name: ManualAccelerationSlow
parameters:
- group: Multicopter Position Slow Mode
definitions:
MC_SLOW_MAP_HVEL:
description:
short: Manual input mapped to scale horizontal velocity in position slow mode
type: enum
values:
0: No rescaling
1: AUX1
2: AUX2
3: AUX3
4: AUX4
5: AUX5
6: AUX6
default: 0
MC_SLOW_MAP_VVEL:
description:
short: Manual input mapped to scale vertical velocity in position slow mode
type: enum
values:
0: No rescaling
1: AUX1
2: AUX2
3: AUX3
4: AUX4
5: AUX5
6: AUX6
default: 0
MC_SLOW_MAP_YAWR:
description:
short: Manual input mapped to scale yaw rate in position slow mode
type: enum
values:
0: No rescaling
1: AUX1
2: AUX2
3: AUX3
4: AUX4
5: AUX5
6: AUX6
default: 0
MC_SLOW_MIN_HVEL:
description:
short: Horizontal velocity lower limit
long: The lowest input maps and is clamped to this velocity.
type: float
default: 0.3
unit: m/s
min: 0.1
increment: 0.1
decimal: 2
MC_SLOW_MIN_VVEL:
description:
short: Vertical velocity lower limit
long: The lowest input maps and is clamped to this velocity.
type: float
default: 0.3
unit: m/s
min: 0.1
increment: 0.1
decimal: 2
MC_SLOW_MIN_YAWR:
description:
short: Yaw rate lower limit
long: The lowest input maps and is clamped to this rate.
type: float
default: 3.0
unit: deg/s
min: 1
increment: 0.1
decimal: 0
MC_SLOW_DEF_HVEL:
description:
short: Default horizontal velocity limit
long: |-
This value is used in slow mode if
no aux channel is mapped and
no limit is commanded through MAVLink.
type: float
default: 3.0
unit: m/s
min: 0.1
increment: 0.1
decimal: 2
MC_SLOW_DEF_VVEL:
description:
short: Default vertical velocity limit
long: |-
This value is used in slow mode if
no aux channel is mapped and
no limit is commanded through MAVLink.
type: float
default: 1.0
unit: m/s
min: 0.1
increment: 0.1
decimal: 2
MC_SLOW_DEF_YAWR:
description:
short: Default yaw rate limit
long: |-
This value is used in slow mode if
no aux channel is mapped and
no limit is commanded through MAVLink.
type: float
default: 45.0
unit: deg/s
min: 1
increment: 0.1
decimal: 0
MC_SLOW_MAP_PTCH:
description:
short: Gimbal pitch rate control input in position slow mode
long: RC_MAP_AUX{N} to allow for gimbal pitch rate control in position slow
mode
type: enum
values:
0: No pitch rate input
1: AUX1
2: AUX2
3: AUX3
4: AUX4
5: AUX5
6: AUX6
default: 0