mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 22:58:10 +08:00
fw_pos_control_l1: move to px4::params
This commit is contained in:
Daniel Agar
File diff suppressed because it is too large
Load Diff
@@ -264,112 +264,8 @@ private:
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FW_POSCTRL_MODE_OTHER
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} _control_mode_current{FW_POSCTRL_MODE_OTHER}; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
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struct {
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float climbout_diff;
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float max_climb_rate;
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float max_sink_rate;
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float speed_weight;
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float time_const_throt;
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float airspeed_min;
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float airspeed_trim;
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float airspeed_max;
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int32_t airspeed_disabled;
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float pitch_limit_min;
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float pitch_limit_max;
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float throttle_min;
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float throttle_max;
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float throttle_idle;
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float throttle_cruise;
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float throttle_alt_scale;
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float man_roll_max_rad;
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float man_pitch_max_rad;
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float rollsp_offset_rad;
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float pitchsp_offset_rad;
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float throttle_land_max;
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float loiter_radius;
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float land_heading_hold_horizontal_distance;
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float land_flare_pitch_min_deg;
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float land_flare_pitch_max_deg;
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int32_t land_use_terrain_estimate;
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int32_t land_early_config_change;
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float land_airspeed_scale;
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float land_throtTC_scale;
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// VTOL
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float airspeed_trans;
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} _parameters{}; ///< local copies of interesting parameters
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struct {
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param_t climbout_diff;
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param_t l1_period;
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param_t l1_damping;
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param_t roll_limit;
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param_t roll_slew_deg_sec;
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param_t time_const;
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param_t time_const_throt;
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param_t min_sink_rate;
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param_t max_sink_rate;
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param_t max_climb_rate;
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param_t heightrate_p;
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param_t heightrate_ff;
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param_t speedrate_p;
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param_t throttle_damp;
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param_t integrator_gain;
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param_t vertical_accel_limit;
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param_t speed_comp_filter_omega;
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param_t roll_throttle_compensation;
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param_t speed_weight;
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param_t pitch_damping;
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param_t airspeed_min;
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param_t airspeed_trim;
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param_t airspeed_max;
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param_t airspeed_trans;
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param_t airspeed_disabled;
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param_t pitch_limit_min;
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param_t pitch_limit_max;
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param_t throttle_min;
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param_t throttle_max;
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param_t throttle_idle;
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param_t throttle_cruise;
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param_t throttle_slew_max;
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param_t throttle_alt_scale;
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param_t man_roll_max_deg;
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param_t man_pitch_max_deg;
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param_t rollsp_offset_deg;
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param_t pitchsp_offset_deg;
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param_t throttle_land_max;
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param_t land_slope_angle;
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param_t land_H1_virt;
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param_t land_flare_alt_relative;
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param_t land_thrust_lim_alt_relative;
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param_t land_heading_hold_horizontal_distance;
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param_t land_flare_pitch_min_deg;
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param_t land_flare_pitch_max_deg;
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param_t land_use_terrain_estimate;
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param_t land_early_config_change;
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param_t land_airspeed_scale;
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param_t land_throtTC_scale;
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param_t loiter_radius;
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} _parameter_handles {}; ///< handles for interesting parameters
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::FW_GND_SPD_MIN>) _groundspeed_min
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)
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param_t _param_handle_airspeed_trans{PARAM_INVALID};
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float _param_airspeed_trans{NAN};
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// Update our local parameter cache.
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int parameters_update();
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@@ -454,6 +350,72 @@ private:
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bool climbout_mode, float climbout_pitch_min_rad,
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uint8_t mode = tecs_status_s::TECS_MODE_NORMAL);
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::FW_AIRSPD_MAX>) _param_fw_airspd_max,
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(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
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(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
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(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff,
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(ParamFloat<px4::params::FW_GND_SPD_MIN>) _param_fw_gnd_spd_min,
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(ParamFloat<px4::params::FW_L1_DAMPING>) _param_fw_l1_damping,
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(ParamFloat<px4::params::FW_L1_PERIOD>) _param_fw_l1_period,
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(ParamFloat<px4::params::FW_L1_R_SLEW_MAX>) _param_fw_l1_r_slew_max,
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(ParamFloat<px4::params::FW_R_LIM>) _param_fw_r_lim,
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(ParamFloat<px4::params::FW_LND_AIRSPD_SC>) _param_fw_lnd_airspd_sc,
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(ParamFloat<px4::params::FW_LND_ANG>) _param_fw_lnd_ang,
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(ParamFloat<px4::params::FW_LND_FL_PMAX>) _param_fw_lnd_fl_pmax,
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(ParamFloat<px4::params::FW_LND_FL_PMIN>) _param_fw_lnd_fl_pmin,
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(ParamFloat<px4::params::FW_LND_FLALT>) _param_fw_lnd_flalt,
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(ParamFloat<px4::params::FW_LND_HHDIST>) _param_fw_lnd_hhdist,
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(ParamFloat<px4::params::FW_LND_HVIRT>) _param_fw_lnd_hvirt,
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(ParamFloat<px4::params::FW_LND_THRTC_SC>) _param_fw_thrtc_sc,
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(ParamFloat<px4::params::FW_LND_TLALT>) _param_fw_lnd_tlalt,
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(ParamBool<px4::params::FW_LND_EARLYCFG>) _param_fw_lnd_earlycfg,
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(ParamBool<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
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(ParamFloat<px4::params::FW_P_LIM_MAX>) _param_fw_p_lim_max,
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(ParamFloat<px4::params::FW_P_LIM_MIN>) _param_fw_p_lim_min,
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(ParamFloat<px4::params::FW_T_CLMB_MAX>) _param_fw_t_clmb_max,
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(ParamFloat<px4::params::FW_T_HRATE_FF>) _param_fw_t_hrate_ff,
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(ParamFloat<px4::params::FW_T_HRATE_P>) _param_fw_t_hrate_p,
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(ParamFloat<px4::params::FW_T_INTEG_GAIN>) _param_fw_t_integ_gain,
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(ParamFloat<px4::params::FW_T_PTCH_DAMP>) _param_fw_t_ptch_damp,
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(ParamFloat<px4::params::FW_T_RLL2THR>) _param_fw_t_rll2thr,
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(ParamFloat<px4::params::FW_T_SINK_MAX>) _param_fw_t_sink_max,
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(ParamFloat<px4::params::FW_T_SINK_MIN>) _param_fw_t_sink_min,
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(ParamFloat<px4::params::FW_T_SPD_OMEGA>) _param_fw_t_spd_omega,
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(ParamFloat<px4::params::FW_T_SPDWEIGHT>) _param_fw_t_spdweight,
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(ParamFloat<px4::params::FW_T_SRATE_P>) _param_fw_t_srate_p,
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(ParamFloat<px4::params::FW_T_THR_DAMP>) _param_fw_t_thr_damp,
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(ParamFloat<px4::params::FW_T_THRO_CONST>) _param_fw_t_thro_const,
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(ParamFloat<px4::params::FW_T_TIME_CONST>) _param_fw_t_time_const,
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(ParamFloat<px4::params::FW_T_VERT_ACC>) _param_fw_t_vert_acc,
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(ParamFloat<px4::params::FW_THR_ALT_SCL>) _param_fw_thr_alt_scl,
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(ParamFloat<px4::params::FW_THR_CRUISE>) _param_fw_thr_cruise,
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(ParamFloat<px4::params::FW_THR_IDLE>) _param_fw_thr_idle,
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(ParamFloat<px4::params::FW_THR_LND_MAX>) _param_fw_thr_lnd_max,
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(ParamFloat<px4::params::FW_THR_MAX>) _param_fw_thr_max,
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(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
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(ParamFloat<px4::params::FW_THR_SLEW_MAX>) _param_fw_thr_slew_max,
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// external parameters
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(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
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(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
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(ParamFloat<px4::params::FW_RSP_OFF>) _param_fw_rsp_off,
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(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
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(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
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(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad
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)
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};
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#endif // FIXEDWINGPOSITIONCONTROL_HPP_
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