diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake index b36d6f569b..f187551193 100644 --- a/boards/px4/fmu-v2/test.cmake +++ b/boards/px4/fmu-v2/test.cmake @@ -78,7 +78,7 @@ px4_add_board( navigator sensors vmount - #vtol_att_control + vtol_att_control #airspeed_selector SYSTEMCMDS diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 5d8cfd6ffd..8bcf9a0c5f 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -46,8 +46,6 @@ #include -#include - using namespace matrix; Standard::Standard(VtolAttitudeControl *attc) : @@ -62,13 +60,13 @@ Standard::Standard(VtolAttitudeControl *attc) : _mc_yaw_weight = 1.0f; _mc_throttle_weight = 1.0f; - _params_handles_standard.pusher_ramp_dt = param_handle(px4::params::VT_PSHER_RMP_DT); - _params_handles_standard.back_trans_ramp = param_handle(px4::params::VT_B_TRANS_RAMP); - _params_handles_standard.down_pitch_max = param_handle(px4::params::VT_DWN_PITCH_MAX); - _params_handles_standard.forward_thrust_scale = param_handle(px4::params::VT_FWD_THRUST_SC); - _params_handles_standard.pitch_setpoint_offset = param_handle(px4::params::FW_PSP_OFF); - _params_handles_standard.reverse_output = param_handle(px4::params::VT_B_REV_OUT); - _params_handles_standard.reverse_delay = param_handle(px4::params::VT_B_REV_DEL); + _params_handles_standard.pusher_ramp_dt = param_find("VT_PSHER_RMP_DT"); + _params_handles_standard.back_trans_ramp = param_find("VT_B_TRANS_RAMP"); + _params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX"); + _params_handles_standard.forward_thrust_scale = param_find("VT_FWD_THRUST_SC"); + _params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF"); + _params_handles_standard.reverse_output = param_find("VT_B_REV_OUT"); + _params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL"); } void diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index dedf39259a..523abacadc 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -42,8 +42,6 @@ #include "tailsitter.h" #include "vtol_att_control_main.h" -#include - #define ARSP_YAW_CTRL_DISABLE 4.0f // airspeed at which we stop controlling yaw during a front transition #define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition #define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2 @@ -63,8 +61,8 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) : _flag_was_in_trans_mode = false; - _params_handles_tailsitter.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR); - _params_handles_tailsitter.fw_pitch_sp_offset = param_handle(px4::params::FW_PSP_OFF); + _params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR"); + _params_handles_tailsitter.fw_pitch_sp_offset = param_find("FW_PSP_OFF"); } void diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 6b1cc8b27e..45312bb32c 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -42,8 +42,6 @@ #include "tiltrotor.h" #include "vtol_att_control_main.h" -#include - #define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : @@ -58,10 +56,10 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : _flag_was_in_trans_mode = false; - _params_handles_tiltrotor.tilt_mc = param_handle(px4::params::VT_TILT_MC); - _params_handles_tiltrotor.tilt_transition = param_handle(px4::params::VT_TILT_TRANS); - _params_handles_tiltrotor.tilt_fw = param_handle(px4::params::VT_TILT_FW); - _params_handles_tiltrotor.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR); + _params_handles_tiltrotor.tilt_mc = param_find("VT_TILT_MC"); + _params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS"); + _params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW"); + _params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR"); } void diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 1ba14e46bd..3facf8f049 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -51,8 +51,6 @@ #include #include -#include - using namespace matrix; VtolAttitudeControl::VtolAttitudeControl() : @@ -64,30 +62,30 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_DEFAULT_MIN; _params.vtol_motor_id = 0; - _params_handles.idle_pwm_mc = param_handle(px4::params::VT_IDLE_PWM_MC); - _params_handles.vtol_motor_id = param_handle(px4::params::VT_MOT_ID); - _params_handles.vtol_fw_permanent_stab = param_handle(px4::params::VT_FW_PERM_STAB); - _params_handles.vtol_type = param_handle(px4::params::VT_TYPE); - _params_handles.elevons_mc_lock = param_handle(px4::params::VT_ELEV_MC_LOCK); - _params_handles.fw_min_alt = param_handle(px4::params::VT_FW_MIN_ALT); - _params_handles.fw_alt_err = param_handle(px4::params::VT_FW_ALT_ERR); - _params_handles.fw_qc_max_pitch = param_handle(px4::params::VT_FW_QC_P); - _params_handles.fw_qc_max_roll = param_handle(px4::params::VT_FW_QC_R); - _params_handles.front_trans_time_openloop = param_handle(px4::params::VT_F_TR_OL_TM); - _params_handles.front_trans_time_min = param_handle(px4::params::VT_TRANS_MIN_TM); + _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); + _params_handles.vtol_motor_id = param_find("VT_MOT_ID"); + _params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB"); + _params_handles.vtol_type = param_find("VT_TYPE"); + _params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK"); + _params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT"); + _params_handles.fw_alt_err = param_find("VT_FW_ALT_ERR"); + _params_handles.fw_qc_max_pitch = param_find("VT_FW_QC_P"); + _params_handles.fw_qc_max_roll = param_find("VT_FW_QC_R"); + _params_handles.front_trans_time_openloop = param_find("VT_F_TR_OL_TM"); + _params_handles.front_trans_time_min = param_find("VT_TRANS_MIN_TM"); - _params_handles.front_trans_duration = param_handle(px4::params::VT_F_TRANS_DUR); - _params_handles.back_trans_duration = param_handle(px4::params::VT_B_TRANS_DUR); - _params_handles.transition_airspeed = param_handle(px4::params::VT_ARSP_TRANS); - _params_handles.front_trans_throttle = param_handle(px4::params::VT_F_TRANS_THR); - _params_handles.back_trans_throttle = param_handle(px4::params::VT_B_TRANS_THR); - _params_handles.airspeed_blend = param_handle(px4::params::VT_ARSP_BLEND); - _params_handles.airspeed_mode = param_handle(px4::params::FW_ARSP_MODE); - _params_handles.front_trans_timeout = param_handle(px4::params::VT_TRANS_TIMEOUT); - _params_handles.mpc_xy_cruise = param_handle(px4::params::MPC_XY_CRUISE); - _params_handles.fw_motors_off = param_handle(px4::params::VT_FW_MOT_OFFID); - _params_handles.diff_thrust = param_handle(px4::params::VT_FW_DIFTHR_EN); - _params_handles.diff_thrust_scale = param_handle(px4::params::VT_FW_DIFTHR_SC); + _params_handles.front_trans_duration = param_find("VT_F_TRANS_DUR"); + _params_handles.back_trans_duration = param_find("VT_B_TRANS_DUR"); + _params_handles.transition_airspeed = param_find("VT_ARSP_TRANS"); + _params_handles.front_trans_throttle = param_find("VT_F_TRANS_THR"); + _params_handles.back_trans_throttle = param_find("VT_B_TRANS_THR"); + _params_handles.airspeed_blend = param_find("VT_ARSP_BLEND"); + _params_handles.airspeed_mode = param_find("FW_ARSP_MODE"); + _params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT"); + _params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE"); + _params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID"); + _params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN"); + _params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC"); /* fetch initial parameter values */ parameters_update();