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Parameter update - Rename variables in modules/mc_att_control

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using parameter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent 2197ac883d
commit e575f032e4
2 changed files with 83 additions and 82 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+50 -49
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@@ -216,68 +216,69 @@ private:
bool _gear_state_initialized{false}; /**< true if the gear state has been initialized */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MC_ROLL_P>) _roll_p,
(ParamFloat<px4::params::MC_ROLLRATE_P>) _roll_rate_p,
(ParamFloat<px4::params::MC_ROLLRATE_I>) _roll_rate_i,
(ParamFloat<px4::params::MC_RR_INT_LIM>) _roll_rate_integ_lim,
(ParamFloat<px4::params::MC_ROLLRATE_D>) _roll_rate_d,
(ParamFloat<px4::params::MC_ROLLRATE_FF>) _roll_rate_ff,
(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
(ParamFloat<px4::params::MC_ROLLRATE_P>) _param_mc_rollrate_p,
(ParamFloat<px4::params::MC_ROLLRATE_I>) _param_mc_rollrate_i,
(ParamFloat<px4::params::MC_RR_INT_LIM>) _param_mc_rr_int_lim,
(ParamFloat<px4::params::MC_ROLLRATE_D>) _param_mc_rollrate_d,
(ParamFloat<px4::params::MC_ROLLRATE_FF>) _param_mc_rollrate_ff,
(ParamFloat<px4::params::MC_PITCH_P>) _pitch_p,
(ParamFloat<px4::params::MC_PITCHRATE_P>) _pitch_rate_p,
(ParamFloat<px4::params::MC_PITCHRATE_I>) _pitch_rate_i,
(ParamFloat<px4::params::MC_PR_INT_LIM>) _pitch_rate_integ_lim,
(ParamFloat<px4::params::MC_PITCHRATE_D>) _pitch_rate_d,
(ParamFloat<px4::params::MC_PITCHRATE_FF>) _pitch_rate_ff,
(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,
(ParamFloat<px4::params::MC_PITCHRATE_P>) _param_mc_pitchrate_p,
(ParamFloat<px4::params::MC_PITCHRATE_I>) _param_mc_pitchrate_i,
(ParamFloat<px4::params::MC_PR_INT_LIM>) _param_mc_pr_int_lim,
(ParamFloat<px4::params::MC_PITCHRATE_D>) _param_mc_pitchrate_d,
(ParamFloat<px4::params::MC_PITCHRATE_FF>) _param_mc_pitchrate_ff,
(ParamFloat<px4::params::MC_YAW_P>) _yaw_p,
(ParamFloat<px4::params::MC_YAWRATE_P>) _yaw_rate_p,
(ParamFloat<px4::params::MC_YAWRATE_I>) _yaw_rate_i,
(ParamFloat<px4::params::MC_YR_INT_LIM>) _yaw_rate_integ_lim,
(ParamFloat<px4::params::MC_YAWRATE_D>) _yaw_rate_d,
(ParamFloat<px4::params::MC_YAWRATE_FF>) _yaw_rate_ff,
(ParamFloat<px4::params::MC_YAW_P>) _param_mc_yaw_p,
(ParamFloat<px4::params::MC_YAWRATE_P>) _param_mc_yawrate_p,
(ParamFloat<px4::params::MC_YAWRATE_I>) _param_mc_yawrate_i,
(ParamFloat<px4::params::MC_YR_INT_LIM>) _param_mc_yr_int_lim,
(ParamFloat<px4::params::MC_YAWRATE_D>) _param_mc_yawrate_d,
(ParamFloat<px4::params::MC_YAWRATE_FF>) _param_mc_yawrate_ff,
(ParamFloat<px4::params::MC_DTERM_CUTOFF>) _d_term_cutoff_freq, /**< Cutoff frequency for the D-term filter */
(ParamFloat<px4::params::MC_DTERM_CUTOFF>) _param_mc_dterm_cutoff, /**< Cutoff frequency for the D-term filter */
(ParamFloat<px4::params::MC_TPA_BREAK_P>) _tpa_breakpoint_p, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_I>) _tpa_breakpoint_i, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_D>) _tpa_breakpoint_d, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_RATE_P>) _tpa_rate_p, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_I>) _tpa_rate_i, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_D>) _tpa_rate_d, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_BREAK_P>) _param_mc_tpa_break_p, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_I>) _param_mc_tpa_break_i, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_BREAK_D>) _param_mc_tpa_break_d, /**< Throttle PID Attenuation breakpoint */
(ParamFloat<px4::params::MC_TPA_RATE_P>) _param_mc_tpa_rate_p, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_I>) _param_mc_tpa_rate_i, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_TPA_RATE_D>) _param_mc_tpa_rate_d, /**< Throttle PID Attenuation slope */
(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _roll_rate_max,
(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _pitch_rate_max,
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _yaw_rate_max,
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _yaw_auto_max,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _yaw_rate_scaling, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_ROLLRATE_MAX>) _param_mc_rollrate_max,
(ParamFloat<px4::params::MC_PITCHRATE_MAX>) _param_mc_pitchrate_max,
(ParamFloat<px4::params::MC_YAWRATE_MAX>) _param_mc_yawrate_max,
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _param_mc_yawrauto_max,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _acro_roll_max,
(ParamFloat<px4::params::MC_ACRO_P_MAX>) _acro_pitch_max,
(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _acro_yaw_max,
(ParamFloat<px4::params::MC_ACRO_EXPO>) _acro_expo_rp, /**< expo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _acro_expo_y, /**< expo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _acro_superexpo_rp, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _acro_superexpo_y, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_R_MAX>) _param_mc_acro_r_max,
(ParamFloat<px4::params::MC_ACRO_P_MAX>) _param_mc_acro_p_max,
(ParamFloat<px4::params::MC_ACRO_Y_MAX>) _param_mc_acro_y_max,
(ParamFloat<px4::params::MC_ACRO_EXPO>) _param_mc_acro_expo, /**< expo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_EXPO_Y>) _param_mc_acro_expo_y, /**< expo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPO>) _param_mc_acro_supexpo, /**< superexpo stick curve shape (roll & pitch) */
(ParamFloat<px4::params::MC_ACRO_SUPEXPOY>) _param_mc_acro_supexpoy, /**< superexpo stick curve shape (yaw) */
(ParamFloat<px4::params::MC_RATT_TH>) _rattitude_thres,
(ParamFloat<px4::params::MC_RATT_TH>) _param_mc_ratt_th,
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _bat_scale_en,
(ParamBool<px4::params::MC_BAT_SCALE_EN>) _param_mc_bat_scale_en,
(ParamInt<px4::params::SENS_BOARD_ROT>) _board_rotation_param,
(ParamInt<px4::params::SENS_BOARD_ROT>) _param_sens_board_rot,
(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _board_offset_x,
(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _board_offset_y,
(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _board_offset_z,
(ParamFloat<px4::params::SENS_BOARD_X_OFF>) _param_sens_board_x_off,
(ParamFloat<px4::params::SENS_BOARD_Y_OFF>) _param_sens_board_y_off,
(ParamFloat<px4::params::SENS_BOARD_Z_OFF>) _param_sens_board_z_off,
/* Stabilized mode params */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _man_tilt_max_deg, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _man_throttle_min, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover, /**< throttle at which vehicle is at hover equilibrium */
(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve, /**< throttle curve behavior */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_man_tilt_max, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _param_mpc_manthr_min, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max, /**< maximum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_HOVER>)
_param_mpc_thr_hover, /**< throttle at which vehicle is at hover equilibrium */
(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve, /**< throttle curve behavior */
(ParamInt<px4::params::MC_AIRMODE>) _airmode
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode
)
matrix::Vector3f _rate_p; /**< P gain for angular rate error */