mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 14:03:33 +08:00
Matthias Grob
d00ad1b815
because the original file was almost 1k lines and the order of parameters more historical than after topic.
167 lines
4.4 KiB
C
167 lines
4.4 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2023 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* Default horizontal velocity in mission
|
|
*
|
|
* Horizontal velocity used when flying autonomously in e.g. Missions, RTL, Goto.
|
|
*
|
|
* @unit m/s
|
|
* @min 3.0
|
|
* @max 20.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
|
|
|
|
/**
|
|
* Automatic ascent velocity
|
|
*
|
|
* Ascent velocity in auto modes.
|
|
* For manual modes and offboard, see MPC_Z_VEL_MAX_UP
|
|
*
|
|
* @unit m/s
|
|
* @min 0.5
|
|
* @max 8.0
|
|
* @increment 0.1
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_UP, 3.f);
|
|
|
|
/**
|
|
* Automatic descent velocity
|
|
*
|
|
* Descent velocity in auto modes.
|
|
* For manual modes and offboard, see MPC_Z_VEL_MAX_DN
|
|
*
|
|
* @unit m/s
|
|
* @min 0.5
|
|
* @max 4.0
|
|
* @increment 0.1
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_Z_V_AUTO_DN, 1.5f);
|
|
|
|
/**
|
|
* Acceleration for auto and for manual
|
|
*
|
|
* Note: In manual, this parameter is only used in MPC_POS_MODE 4.
|
|
*
|
|
* @unit m/s^2
|
|
* @min 2.0
|
|
* @max 15.0
|
|
* @increment 1
|
|
* @decimal 2
|
|
* @group Multicopter Position Control
|
|
*/
|
|
|
|
PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f);
|
|
|
|
/**
|
|
* Jerk limit in auto mode
|
|
*
|
|
* Limit the maximum jerk of the vehicle (how fast the acceleration can change).
|
|
* A lower value leads to smoother vehicle motions, but it also limits its
|
|
* agility.
|
|
*
|
|
* @unit m/s^3
|
|
* @min 1.0
|
|
* @max 80.0
|
|
* @increment 1
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
|
|
|
|
/**
|
|
* Proportional gain for horizontal trajectory position error
|
|
*
|
|
* @min 0.1
|
|
* @max 1.0
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
|
|
|
|
/**
|
|
* Maximum horizontal error allowed by the trajectory generator
|
|
*
|
|
* The integration speed of the trajectory setpoint is linearly
|
|
* reduced with the horizontal position tracking error. When the
|
|
* error is above this parameter, the integration of the
|
|
* trajectory is stopped to wait for the drone.
|
|
*
|
|
* This value can be adjusted depending on the tracking
|
|
* capabilities of the vehicle.
|
|
*
|
|
* @min 0.1
|
|
* @max 10.0
|
|
* @decimal 1
|
|
* @group Multicopter Position Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_XY_ERR_MAX, 2.0f);
|
|
|
|
/**
|
|
* Max yaw rate in auto mode
|
|
*
|
|
* Limit the rate of change of the yaw setpoint in autonomous mode
|
|
* to avoid large control output and mixer saturation.
|
|
*
|
|
* @unit deg/s
|
|
* @min 0.0
|
|
* @max 360.0
|
|
* @decimal 1
|
|
* @increment 5
|
|
* @group Multicopter Attitude Control
|
|
*/
|
|
PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
|
|
|
|
/**
|
|
* Yaw mode.
|
|
*
|
|
* Specifies the heading in Auto.
|
|
*
|
|
* @min 0
|
|
* @max 4
|
|
* @value 0 towards waypoint
|
|
* @value 1 towards home
|
|
* @value 2 away from home
|
|
* @value 3 along trajectory
|
|
* @value 4 towards waypoint (yaw first)
|
|
* @group Mission
|
|
*/
|
|
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
|