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VTOL: rename params _PTCH to _PITCH

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-04-22 14:48:35 +02:00
parent 7c5f0121a5
commit 3cf07e1be5
4 changed files with 26 additions and 7 deletions
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src/lib/parameters/param_translation.cpp
+19
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@@ -146,6 +146,25 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-04-11: translate VT_PTCH_MIN to VT_PITCH_MIN
{
if (strcmp("VT_PTCH_MIN", node->name) == 0) {
strcpy(node->name, "VT_PITCH_MIN");
PX4_INFO("copying %s -> %s", "VT_PTCH_MIN", "VT_PITCH_MIN");
return true;
}
}
// 2022-04-11: translate VT_LND_PTCH_MIN to VT_LND_PITCH_MIN
{
if (strcmp("VT_LND_PTCH_MIN", node->name) == 0) {
strcpy(node->name, "VT_LND_PITCH_MIN");
PX4_INFO("copying %s -> %s", "VT_LND_PTCH_MIN", "VT_LND_PITCH_MIN");
return true;
}
}
// 2021-10-21: translate NAV_GPSF_LT to FW_GPSF_LT and NAV_GPSF_R to FW_GPSF_R
{
if (strcmp("NAV_GPSF_LT", node->name) == 0) {
src/modules/vtol_att_control/vtol_att_control_params.c
+3 -3
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@@ -359,12 +359,12 @@ PARAM_DEFINE_INT32(VT_MC_ON_FMU, 0);
* @max 45.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PTCH_MIN, -5.0f);
PARAM_DEFINE_FLOAT(VT_PITCH_MIN, -5.0f);
/**
* Minimum pitch angle during hover landing.
*
* Overrides VT_PTCH_MIN when the vehicle is in LAND mode (hovering).
* Overrides VT_PITCH_MIN when the vehicle is in LAND mode (hovering).
* During landing it can be beneficial to allow lower minimum pitch angles as it can avoid the wings
* generating too much lift and preventing the vehicle from sinking at the desired rate.
*
@@ -372,7 +372,7 @@ PARAM_DEFINE_FLOAT(VT_PTCH_MIN, -5.0f);
* @max 45.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_LND_PTCH_MIN, -5.0f);
PARAM_DEFINE_FLOAT(VT_LND_PITCH_MIN, -5.0f);
/**
* Spoiler setting while landing (hover)
src/modules/vtol_att_control/vtol_type.cpp
+2 -2
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@@ -633,12 +633,12 @@ float VtolType::pusher_assist()
// normalized pusher support throttle (standard VTOL) or tilt (tiltrotor), initialize to 0
float forward_thrust = 0.0f;
float pitch_setpoint_min = math::radians(_param_vt_ptch_min.get());
float pitch_setpoint_min = math::radians(_param_vt_pitch_min.get());
if (_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
pitch_setpoint_min = math::radians(
_param_vt_lnd_ptch_min.get()); // set min pitch during LAND (usually lower to generate less lift)
_param_vt_lnd_pitch_min.get()); // set min pitch during LAND (usually lower to generate less lift)
}
// only allow pitching down up to threshold, the rest of the desired
src/modules/vtol_att_control/vtol_type.h
+2 -2
View File
@@ -297,12 +297,12 @@ protected:
(ParamFloat<px4::params::VT_B_DEC_I>) _param_vt_b_dec_i,
(ParamFloat<px4::params::VT_B_DEC_MSS>) _param_vt_b_dec_mss,
(ParamFloat<px4::params::VT_PTCH_MIN>) _param_vt_ptch_min,
(ParamFloat<px4::params::VT_PITCH_MIN>) _param_vt_pitch_min,
(ParamFloat<px4::params::VT_FWD_THRUST_SC>) _param_vt_fwd_thrust_sc,
(ParamInt<px4::params::VT_FWD_THRUST_EN>) _param_vt_fwd_thrust_en,
(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
(ParamFloat<px4::params::VT_LND_PTCH_MIN>) _param_vt_lnd_ptch_min,
(ParamFloat<px4::params::VT_LND_PITCH_MIN>) _param_vt_lnd_pitch_min,
(ParamBool<px4::params::SYS_CTRL_ALLOC>) _param_sys_ctrl_alloc,
(ParamInt<px4::params::VT_IDLE_PWM_MC>) _param_vt_idle_pwm_mc,