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refactor(commander): convert params.c to module.yaml

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Convert 3 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:33 -08:00
committed by Jacob Dahl
parent a9c641a9d8
commit 536480458e
5 changed files with 842 additions and 1250 deletions
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src/modules/commander/CMakeLists.txt
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@@ -63,6 +63,7 @@ px4_add_module(
worker_thread.cpp
MODULE_CONFIG
module.yaml
commander_params.yaml
DEPENDS
ArmAuthorization
circuit_breaker
src/modules/commander/HealthAndArmingChecks/esc_check_params.c
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@@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2026 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.
*
****************************************************************************/
/**
* Enable Actuator Failure check
*
* If enabled, the HealthAndArmingChecks will verify that for motors, a minimum amount of ESC current per throttle
* level is being consumed.
* Otherwise this indicates an motor failure.
* This check only works for ESCs that report current consumption.
*
* @boolean
*
* @group Motor Failure
*/
PARAM_DEFINE_INT32(FD_ACT_EN, 0);
/**
* Motor Failure Current/Throttle Scale
*
* Determines the slope between expected steady state current and linearized, normalized thrust command.
* E.g. FD_ACT_MOT_C2T A represents the expected steady state current at 100%.
* FD_ACT_LOW_OFF and FD_ACT_HIGH_OFF offset the threshold from that slope.
*
* @group Motor Failure
* @min 0.0
* @max 50.0
* @unit A/%
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_C2T, 35.f);
/**
* Undercurrent motor failure limit offset
*
* threshold = FD_ACT_MOT_C2T * thrust - FD_ACT_LOW_OFF
*
* @group Motor Failure
* @min 0
* @max 30
* @unit A
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_LOW_OFF, 10.f);
/**
* Overcurrent motor failure limit offset
*
* threshold = FD_ACT_MOT_C2T * thrust + FD_ACT_HIGH_OFF
*
* @group Motor Failure
* @min 0
* @max 30
* @unit A
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_HIGH_OFF, 10.f);
/**
* Motor Failure Hysteresis Time
*
* Motor failure only triggers after current thresholds are exceeded for this time.
*
* @group Motor Failure
* @unit s
* @min 0.01
* @max 10
* @decimal 2
* @increment 1
*/
PARAM_DEFINE_FLOAT(MOTFAIL_TIME, 1.f);
src/modules/commander/commander_params.c
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src/modules/commander/commander_params.yaml
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src/modules/commander/failure_detector/failure_detector_params.c
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@@ -1,143 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 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.
*
****************************************************************************/
/**
* @file failure_detector_params.c
*
* Parameters used by the Failure Detector.
*
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*/
/**
* FailureDetector Max Roll
*
* Maximum roll angle before FailureDetector triggers the attitude_failure flag.
* The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
* which sets outputs to their failsafe values.
* On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
* which disarms motors but does not set outputs to failsafe values.
*
* Setting this parameter to 0 disables the check
*
* @min 0
* @max 180
* @unit deg
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_FAIL_R, 60);
/**
* FailureDetector Max Pitch
*
* Maximum pitch angle before FailureDetector triggers the attitude_failure flag.
* The flag triggers flight termination (if @CBRK_FLIGHTTERM = 0),
* which sets outputs to their failsafe values.
* On takeoff the flag triggers lockdown (irrespective of @CBRK_FLIGHTTERM),
* which disarms motors but does not set outputs to failsafe values.
*
* Setting this parameter to 0 disables the check
*
* @min 0
* @max 180
* @unit deg
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_FAIL_P, 60);
/**
* Roll failure trigger time
*
* Seconds (decimal) that roll has to exceed FD_FAIL_R before being considered as a failure.
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_FLOAT(FD_FAIL_R_TTRI, 0.3);
/**
* Pitch failure trigger time
*
* Seconds (decimal) that pitch has to exceed FD_FAIL_P before being considered as a failure.
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3);
/**
* Enable PWM input on for engaging failsafe from an external automatic trigger system (ATS).
*
* Enabled on either AUX5 or MAIN5 depending on board.
* External ATS is required by ASTM F3322-18.
*
* @boolean
* @reboot_required true
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_EXT_ATS_EN, 0);
/**
* The PWM threshold from external automatic trigger system for engaging failsafe.
*
* External ATS is required by ASTM F3322-18.
*
* @unit us
* @decimal 2
*
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900);
/**
* Imbalanced propeller check threshold
*
* Value at which the imbalanced propeller metric (based on horizontal and
* vertical acceleration variance) triggers a failure
*
* Setting this value to 0 disables the feature.
*
* @min 0
* @max 1000
* @increment 1
* @group Failure Detector
*/
PARAM_DEFINE_INT32(FD_IMB_PROP_THR, 30);