diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt index b4107f21d4..c7ceeac534 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/CMakeLists.txt @@ -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) diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.yaml b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.yaml new file mode 100644 index 0000000000..2d0d5119cf --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.yaml @@ -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