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

Convert 3 parameter file(s) from legacy C format to YAML module configuration.
2026-05-31 10:26:52 +08:00 · 2026-03-17 21:55:33 -08:00
parent a9c641a9d8
commit 536480458e
5 changed files with 842 additions and 1250 deletions
@@ -63,6 +63,7 @@ px4_add_module(
 		worker_thread.cpp
 	MODULE_CONFIG
 		module.yaml
 		commander_params.yaml
 	DEPENDS
 		ArmAuthorization
 		circuit_breaker
@@ -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);
@@ -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);