From ebae9ae3d7fc96607affb8a4a522cf7b9ed1e76d Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 8 Dec 2023 11:36:42 +0100 Subject: [PATCH] FlightTaskManualAccelerationSlow: MC_ prefix for parameter names 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. --- .../FlightTaskManualAccelerationSlow.cpp | 32 +++++++++---------- .../FlightTaskManualAccelerationSlow.hpp | 18 +++++------ .../flight_task_acceleration_slow_params.c | 18 +++++------ 3 files changed, 34 insertions(+), 34 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp index 8679573800..7b1c24f1dd 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp @@ -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 diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp index 8a9c541a37..b54d9b765d 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp @@ -71,15 +71,15 @@ private: velocity_limits_s _velocity_limits{}; DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAcceleration, - (ParamInt) _param_posslow_map_hvel, - (ParamInt) _param_posslow_map_vvel, - (ParamInt) _param_posslow_map_yawr, - (ParamFloat) _param_posslow_min_hvel, - (ParamFloat) _param_posslow_min_vvel, - (ParamFloat) _param_posslow_min_yawr, - (ParamFloat) _param_posslow_def_hvel, - (ParamFloat) _param_posslow_def_vvel, - (ParamFloat) _param_posslow_def_yawr, + (ParamInt) _param_mc_slow_map_hvel, + (ParamInt) _param_mc_slow_map_vvel, + (ParamInt) _param_mc_slow_map_yawr, + (ParamFloat) _param_mc_slow_min_hvel, + (ParamFloat) _param_mc_slow_min_vvel, + (ParamFloat) _param_mc_slow_min_yawr, + (ParamFloat) _param_mc_slow_def_hvel, + (ParamFloat) _param_mc_slow_def_vvel, + (ParamFloat) _param_mc_slow_def_yawr, (ParamFloat) _param_mpc_vel_manual, (ParamFloat) _param_mpc_z_vel_max_up, (ParamFloat) _param_mpc_z_vel_max_dn, diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c index b2456f1df8..4c643d87d8 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c +++ b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c @@ -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);