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https://github.com/PX4/PX4-Autopilot.git
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refactor(mc_nn_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -44,6 +44,8 @@ px4_add_module(
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mc_nn_control.hpp
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control_net.cpp
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control_net.hpp
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MODULE_CONFIG
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mc_nn_control_params.yaml
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DEPENDS
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tensorflow_lite_micro
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px4_work_queue
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@@ -1,83 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_nn_control_params.c
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* Parameters for the Multicopter Neural Network Control module
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*
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* @author Sindre Meyer Hegre <sindre.hegre@gmail.com>
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*/
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/**
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* If true the neural network control is automatically started on boot.
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*
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* @boolean
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* @group Neural Control
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*/
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PARAM_DEFINE_INT32(MC_NN_EN, 1);
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/**
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* The maximum RPM of the motors. Used to normalize the output of the neural network.
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*
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* @min 0
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* @max 80000
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* @group Neural Control
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*/
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PARAM_DEFINE_INT32(MC_NN_MAX_RPM, 22000);
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/**
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* The minimum RPM of the motors. Used to normalize the output of the neural network.
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*
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* @min 0
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* @max 80000
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* @group Neural Control
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*/
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PARAM_DEFINE_INT32(MC_NN_MIN_RPM, 1000);
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/**
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* Thrust coefficient of the motors. Used to normalize the output of the neural network. Divided by 100 000
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*
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* @min 0.0
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* @max 5.0
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* @group Neural Control
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*/
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PARAM_DEFINE_FLOAT(MC_NN_THRST_COEF, 1.2f);
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/**
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* Enable or disable setting the trajectory setpoint with manual control.
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*
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* @boolean
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* @reboot_required true
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* @group Neural Control
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*/
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PARAM_DEFINE_INT32(MC_NN_MANL_CTRL, 1);
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42
src/modules/mc_nn_control/mc_nn_control_params.yaml
Normal file
42
src/modules/mc_nn_control/mc_nn_control_params.yaml
Normal file
@@ -0,0 +1,42 @@
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module_name: mc_nn_control
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parameters:
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- group: Neural Control
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definitions:
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MC_NN_EN:
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description:
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short: If true the neural network control is automatically started on boot
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type: boolean
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default: 1
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MC_NN_MAX_RPM:
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description:
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short: Max motor RPM for neural network normalization
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long: The maximum RPM of the motors. Used to normalize the output of the neural
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network
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type: int32
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default: 22000
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min: 0
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max: 80000
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MC_NN_MIN_RPM:
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description:
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short: Min motor RPM for neural network normalization
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long: The minimum RPM of the motors. Used to normalize the output of the neural
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network
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type: int32
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default: 1000
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min: 0
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max: 80000
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MC_NN_THRST_COEF:
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description:
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short: Motor thrust coefficient for NN normalization
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long: Thrust coefficient of the motors. Used to normalize the output of the
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neural network. Divided by 100 000
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type: float
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default: 1.2
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min: 0.0
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max: 5.0
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MC_NN_MANL_CTRL:
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description:
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short: Enable or disable setting the trajectory setpoint with manual control
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type: boolean
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default: 1
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reboot_required: true
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