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FlightTaskManualAccelerationSlow: MC_ prefix for parameter names

Browse Source 
As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
This commit is contained in:
Matthias Grob 2023-12-08 11:36:42 +01:00
parent d03030e881
commit ebae9ae3d7
3 changed files with 34 additions and 34 deletions
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32
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp
View File

@ -62,35 +62,35 @@ bool FlightTaskManualAccelerationSlow::update()
if (_velocity_limits_received_before) {
// message received once since mode was started
if (PX4_ISFINITE(_velocity_limits.horizontal_velocity)) {
velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_posslow_min_hvel.get());
velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_mc_slow_min_hvel.get());
velocity_horizontal_limited = true;
}
if (PX4_ISFINITE(_velocity_limits.vertical_velocity)) {
velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_posslow_min_vvel.get());
velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_mc_slow_min_vvel.get());
velocity_vertical_limited = true;
}
if (PX4_ISFINITE(_velocity_limits.yaw_rate)) {
yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_posslow_min_yawr.get()));
yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_mc_slow_min_yawr.get()));
yaw_rate_limited = true;
}
}
// Remote knob commanded limits
if (_param_posslow_map_hvel.get() != 0) {
const float min_horizontal_velocity_scale = _param_posslow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_hvel.get());
if (_param_mc_slow_map_hvel.get() != 0) {
const float min_horizontal_velocity_scale = _param_mc_slow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_hvel.get());
const float aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_horizontal_velocity_scale, 1.f);
velocity_horizontal *= aux_based_scale;
velocity_horizontal_limited = true;
}
if (_param_posslow_map_vvel.get() != 0) {
const float min_up_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON);
const float min_down_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_vvel.get());
if (_param_mc_slow_map_vvel.get() != 0) {
const float min_up_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON);
const float min_down_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_vvel.get());
const float up_aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_up_speed_scale, 1.f);
const float down_aux_based_scale =
@ -100,9 +100,9 @@ bool FlightTaskManualAccelerationSlow::update()
velocity_vertical_limited = true;
}
if (_param_posslow_map_yawr.get() != 0) {
const float min_yaw_rate_scale = math::radians(_param_posslow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_yawr.get());
if (_param_mc_slow_map_yawr.get() != 0) {
const float min_yaw_rate_scale = math::radians(_param_mc_slow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_yawr.get());
const float aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_yaw_rate_scale, 1.f);
yaw_rate *= aux_based_scale;
@ -111,15 +111,15 @@ bool FlightTaskManualAccelerationSlow::update()
// No input from remote and MAVLink -> use default slow mode limits
if (!velocity_horizontal_limited) {
velocity_horizontal = _param_posslow_def_hvel.get();
velocity_horizontal = _param_mc_slow_def_hvel.get();
}
if (!velocity_vertical_limited) {
velocity_up = velocity_down = _param_posslow_def_vvel.get();
velocity_up = velocity_down = _param_mc_slow_def_vvel.get();
}
if (!yaw_rate_limited) {
yaw_rate = math::radians(_param_posslow_def_yawr.get());
yaw_rate = math::radians(_param_mc_slow_def_yawr.get());
}
// Interface to set resulting velocity limits

18
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp
View File

@ -71,15 +71,15 @@ private:
velocity_limits_s _velocity_limits{};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAcceleration,
(ParamInt<px4::params::POSSLOW_MAP_HVEL>) _param_posslow_map_hvel,
(ParamInt<px4::params::POSSLOW_MAP_VVEL>) _param_posslow_map_vvel,
(ParamInt<px4::params::POSSLOW_MAP_YAWR>) _param_posslow_map_yawr,
(ParamFloat<px4::params::POSSLOW_MIN_HVEL>) _param_posslow_min_hvel,
(ParamFloat<px4::params::POSSLOW_MIN_VVEL>) _param_posslow_min_vvel,
(ParamFloat<px4::params::POSSLOW_MIN_YAWR>) _param_posslow_min_yawr,
(ParamFloat<px4::params::POSSLOW_DEF_HVEL>) _param_posslow_def_hvel,
(ParamFloat<px4::params::POSSLOW_DEF_VVEL>) _param_posslow_def_vvel,
(ParamFloat<px4::params::POSSLOW_DEF_YAWR>) _param_posslow_def_yawr,
(ParamInt<px4::params::MC_SLOW_MAP_HVEL>) _param_mc_slow_map_hvel,
(ParamInt<px4::params::MC_SLOW_MAP_VVEL>) _param_mc_slow_map_vvel,
(ParamInt<px4::params::MC_SLOW_MAP_YAWR>) _param_mc_slow_map_yawr,
(ParamFloat<px4::params::MC_SLOW_MIN_HVEL>) _param_mc_slow_min_hvel,
(ParamFloat<px4::params::MC_SLOW_MIN_VVEL>) _param_mc_slow_min_vvel,
(ParamFloat<px4::params::MC_SLOW_MIN_YAWR>) _param_mc_slow_min_yawr,
(ParamFloat<px4::params::MC_SLOW_DEF_HVEL>) _param_mc_slow_def_hvel,
(ParamFloat<px4::params::MC_SLOW_DEF_VVEL>) _param_mc_slow_def_vvel,
(ParamFloat<px4::params::MC_SLOW_DEF_YAWR>) _param_mc_slow_def_yawr,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,

18
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c
View File

@ -43,7 +43,7 @@
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_HVEL, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_HVEL, 0);
/**
* Manual input mapped to scale vertical velocity in position slow mode
@ -57,7 +57,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_HVEL, 0);
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_VVEL, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_VVEL, 0);
/**
* Manual input mapped to scale yaw rate in position slow mode
@ -71,7 +71,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_VVEL, 0);
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_YAWR, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_YAWR, 0);
/**
* Horizontal velocity lower limit
@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_YAWR, 0);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_HVEL, .3f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_HVEL, .3f);
/**
* Vertical velocity lower limit
@ -97,7 +97,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_HVEL, .3f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_VVEL, .3f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_VVEL, .3f);
/**
* Yaw rate lower limit
@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_VVEL, .3f);
* @decimal 0
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_YAWR, 3.f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_YAWR, 3.f);
/**
* Default horizontal velocity limit
@ -125,7 +125,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_YAWR, 3.f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_HVEL, 3.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_HVEL, 3.f);
/**
* Default vertical velocity limit
@ -140,7 +140,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_DEF_HVEL, 3.f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_VVEL, 1.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_VVEL, 1.f);
/**
* Default yaw rate limit
@ -155,4 +155,4 @@ PARAM_DEFINE_FLOAT(POSSLOW_DEF_VVEL, 1.f);
* @decimal 0
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_YAWR, 45.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f);