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refactor(simulation/simulator_sih): convert params.c to module.yaml

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Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:35 -08:00
committed by Jacob Dahl
parent e96ce0354f
commit 777a5691cc
3 changed files with 275 additions and 357 deletions
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src/modules/simulation/simulator_sih/CMakeLists.txt
+2
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@@ -40,6 +40,8 @@ px4_add_module(
aero.hpp aero.hpp
sih.cpp sih.cpp
sih.hpp sih.hpp
MODULE_CONFIG
sih_params.yaml
DEPENDS DEPENDS
mathlib mathlib
drivers_accelerometer drivers_accelerometer
src/modules/simulation/simulator_sih/sih_params.c
-357
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@@ -1,357 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013-2025 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 sih_params.c
* Parameters for simulator in hardware.
*
* @author Romain Chiappinelli <romain.chiap@gmail.com>
* February 2019
*/
/**
* Vehicle mass
*
* This value can be measured by weighting the quad on a scale.
*
* @unit kg
* @min 0.0
* @decimal 2
* @increment 0.1
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_MASS, 1.0f);
/**
* Vehicle inertia about X axis
*
* The inertia is a 3 by 3 symmetric matrix.
* It represents the difficulty of the vehicle to modify its angular rate.
*
* @unit kg m^2
* @min 0.0
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXX, 0.025f);
/**
* Vehicle inertia about Y axis
*
* The inertia is a 3 by 3 symmetric matrix.
* It represents the difficulty of the vehicle to modify its angular rate.
*
* @unit kg m^2
* @min 0.0
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYY, 0.025f);
/**
* Vehicle inertia about Z axis
*
* The inertia is a 3 by 3 symmetric matrix.
* It represents the difficulty of the vehicle to modify its angular rate.
*
* @unit kg m^2
* @min 0.0
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IZZ, 0.030f);
/**
* Vehicle cross term inertia xy
*
* The inertia is a 3 by 3 symmetric matrix.
* This value can be set to 0 for a quad symmetric about its center of mass.
*
* @unit kg m^2
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXY, 0.0f);
/**
* Vehicle cross term inertia xz
*
* The inertia is a 3 by 3 symmetric matrix.
* This value can be set to 0 for a quad symmetric about its center of mass.
*
* @unit kg m^2
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IXZ, 0.0f);
/**
* Vehicle cross term inertia yz
*
* The inertia is a 3 by 3 symmetric matrix.
* This value can be set to 0 for a quad symmetric about its center of mass.
*
* @unit kg m^2
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_IYZ, 0.0f);
/**
* Max propeller thrust force
*
* This is the maximum force delivered by one propeller
* when the motor is running at full speed.
*
* This value is usually about 5 times the mass of the quadrotor.
*
* @unit N
* @min 0.0
* @decimal 2
* @increment 0.5
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_T_MAX, 5.0f);
/**
* Max propeller torque
*
* This is the maximum torque delivered by one propeller
* when the motor is running at full speed.
*
* This value is usually about few percent of the maximum thrust force.
*
* @unit Nm
* @min 0.0
* @decimal 3
* @increment 0.05
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_Q_MAX, 0.1f);
/**
* Roll arm length
*
* This is the arm length generating the rolling moment
*
* This value can be measured with a ruler.
* This corresponds to half the distance between the left and right motors.
*
* @unit m
* @min 0.0
* @decimal 2
* @increment 0.05
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_ROLL, 0.2f);
/**
* Pitch arm length
*
* This is the arm length generating the pitching moment
*
* This value can be measured with a ruler.
* This corresponds to half the distance between the front and rear motors.
*
* @unit m
* @min 0.0
* @decimal 2
* @increment 0.05
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_L_PITCH, 0.2f);
/**
* First order drag coefficient
*
* Physical coefficient representing the friction with air particules.
* The greater this value, the slower the quad will move.
*
* Drag force function of velocity: D=-KDV*V.
* The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]
*
* @unit N/(m/s)
* @min 0.0
* @decimal 2
* @increment 0.05
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDV, 1.0f);
/**
* First order angular damper coefficient
*
* Physical coefficient representing the friction with air particules during rotations.
* The greater this value, the slower the quad will rotate.
*
* Aerodynamic moment function of body rate: Ma=-KDW*W_B.
* This value can be set to 0 if unknown.
*
* @unit Nm/(rad/s)
* @min 0.0
* @decimal 3
* @increment 0.005
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_KDW, 0.025f);
/**
* Initial geodetic latitude
*
* This value represents the North-South location on Earth where the simulation begins.
*
* LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
* to represent a physical ground location on Earth.
*
* @unit deg
* @min -90
* @max 90
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_LOC_LAT0, 47.397742f);
/**
* Initial geodetic longitude
*
* This value represents the East-West location on Earth where the simulation begins.
*
* LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
* to represent a physical ground location on Earth.
*
* @unit deg
* @min -180
* @max 180
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_LOC_LON0, 8.545594f);
/**
* Initial AMSL ground altitude
*
* This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins.
*
* If using FlightGear as a visual animation,
* this value can be tweaked such that the vehicle lies on the ground at takeoff.
*
* LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
* to represent a physical ground location on Earth.
*
*
* @unit m
* @min -420.0
* @max 8848.0
* @decimal 2
* @increment 0.01
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_LOC_H0, 489.4f);
/**
* distance sensor minimum range
*
* @unit m
* @min 0.0
* @max 10.0
* @decimal 4
* @increment 0.01
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_DISTSNSR_MIN, 0.0f);
/**
* distance sensor maximum range
*
* @unit m
* @min 0.0
* @max 1000.0
* @decimal 4
* @increment 0.01
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_DISTSNSR_MAX, 100.0f);
/**
* if >= 0 the distance sensor measures will be overridden by this value
*
* Absolute value superior to 10000 will disable distance sensor
*
* @unit m
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_DISTSNSR_OVR, -1.0f);
/**
* thruster time constant tau
*
* the time taken for the thruster to step from 0 to 100% should be about 4 times tau
*
* @unit s
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_T_TAU, 0.05f);
/**
* Vehicle type
*
* @value 0 Quadcopter
* @value 1 Fixed-Wing
* @value 2 Tailsitter
* @value 3 Standard VTOL
* @value 4 Hexacopter
* @value 5 Rover Ackermann
* @reboot_required true
* @group Simulation In Hardware
*/
PARAM_DEFINE_INT32(SIH_VEHICLE_TYPE, 0);
/**
* Wind velocity from north direction.
*
* @unit m/s
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_WIND_N, 0.0f);
/**
* Wind velocity from east direction.
*
* @unit m/s
* @group Simulation In Hardware
*/
PARAM_DEFINE_FLOAT(SIH_WIND_E, 0.0f);
src/modules/simulation/simulator_sih/sih_params.yaml
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@@ -0,0 +1,273 @@
module_name: simulator_sih
parameters:
- group: Simulation In Hardware
definitions:
SIH_MASS:
description:
short: Vehicle mass
long: This value can be measured by weighting the quad on a scale.
type: float
default: 1.0
unit: kg
min: 0.0
decimal: 2
increment: 0.1
SIH_IXX:
description:
short: Vehicle inertia about X axis
long: |-
The inertia is a 3 by 3 symmetric matrix.
It represents the difficulty of the vehicle to modify its angular rate.
type: float
default: 0.025
unit: kg m^2
min: 0.0
decimal: 3
increment: 0.005
SIH_IYY:
description:
short: Vehicle inertia about Y axis
long: |-
The inertia is a 3 by 3 symmetric matrix.
It represents the difficulty of the vehicle to modify its angular rate.
type: float
default: 0.025
unit: kg m^2
min: 0.0
decimal: 3
increment: 0.005
SIH_IZZ:
description:
short: Vehicle inertia about Z axis
long: |-
The inertia is a 3 by 3 symmetric matrix.
It represents the difficulty of the vehicle to modify its angular rate.
type: float
default: 0.03
unit: kg m^2
min: 0.0
decimal: 3
increment: 0.005
SIH_IXY:
description:
short: Vehicle cross term inertia xy
long: |-
The inertia is a 3 by 3 symmetric matrix.
This value can be set to 0 for a quad symmetric about its center of mass.
type: float
default: 0.0
unit: kg m^2
decimal: 3
increment: 0.005
SIH_IXZ:
description:
short: Vehicle cross term inertia xz
long: |-
The inertia is a 3 by 3 symmetric matrix.
This value can be set to 0 for a quad symmetric about its center of mass.
type: float
default: 0.0
unit: kg m^2
decimal: 3
increment: 0.005
SIH_IYZ:
description:
short: Vehicle cross term inertia yz
long: |-
The inertia is a 3 by 3 symmetric matrix.
This value can be set to 0 for a quad symmetric about its center of mass.
type: float
default: 0.0
unit: kg m^2
decimal: 3
increment: 0.005
SIH_T_MAX:
description:
short: Max propeller thrust force
long: |-
This is the maximum force delivered by one propeller
when the motor is running at full speed.
This value is usually about 5 times the mass of the quadrotor.
type: float
default: 5.0
unit: N
min: 0.0
decimal: 2
increment: 0.5
SIH_Q_MAX:
description:
short: Max propeller torque
long: |-
This is the maximum torque delivered by one propeller
when the motor is running at full speed.
This value is usually about few percent of the maximum thrust force.
type: float
default: 0.1
unit: Nm
min: 0.0
decimal: 3
increment: 0.05
SIH_L_ROLL:
description:
short: Roll arm length
long: |-
This is the arm length generating the rolling moment
This value can be measured with a ruler.
This corresponds to half the distance between the left and right motors.
type: float
default: 0.2
unit: m
min: 0.0
decimal: 2
increment: 0.05
SIH_L_PITCH:
description:
short: Pitch arm length
long: |-
This is the arm length generating the pitching moment
This value can be measured with a ruler.
This corresponds to half the distance between the front and rear motors.
type: float
default: 0.2
unit: m
min: 0.0
decimal: 2
increment: 0.05
SIH_KDV:
description:
short: First order drag coefficient
long: |-
Physical coefficient representing the friction with air particules.
The greater this value, the slower the quad will move.
Drag force function of velocity: D=-KDV*V.
The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s]
type: float
default: 1.0
unit: N/(m/s)
min: 0.0
decimal: 2
increment: 0.05
SIH_KDW:
description:
short: First order angular damper coefficient
long: |-
Physical coefficient representing the friction with air particules during rotations.
The greater this value, the slower the quad will rotate.
Aerodynamic moment function of body rate: Ma=-KDW*W_B.
This value can be set to 0 if unknown.
type: float
default: 0.025
unit: Nm/(rad/s)
min: 0.0
decimal: 3
increment: 0.005
SIH_LOC_LAT0:
description:
short: Initial geodetic latitude
long: |-
This value represents the North-South location on Earth where the simulation begins.
LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
to represent a physical ground location on Earth.
type: float
default: 47.397742
unit: deg
min: -90
max: 90
SIH_LOC_LON0:
description:
short: Initial geodetic longitude
long: |-
This value represents the East-West location on Earth where the simulation begins.
LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
to represent a physical ground location on Earth.
type: float
default: 8.545594
unit: deg
min: -180
max: 180
SIH_LOC_H0:
description:
short: Initial AMSL ground altitude
long: |-
This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins.
If using FlightGear as a visual animation,
this value can be tweaked such that the vehicle lies on the ground at takeoff.
LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others
to represent a physical ground location on Earth.
type: float
default: 489.4
unit: m
min: -420.0
max: 8848.0
decimal: 2
increment: 0.01
SIH_DISTSNSR_MIN:
description:
short: distance sensor minimum range
type: float
default: 0.0
unit: m
min: 0.0
max: 10.0
decimal: 4
increment: 0.01
SIH_DISTSNSR_MAX:
description:
short: distance sensor maximum range
type: float
default: 100.0
unit: m
min: 0.0
max: 1000.0
decimal: 4
increment: 0.01
SIH_DISTSNSR_OVR:
description:
short: if >= 0 the distance sensor measures will be overridden by this value
long: Absolute value superior to 10000 will disable distance sensor
type: float
default: -1.0
unit: m
SIH_T_TAU:
description:
short: thruster time constant tau
long: the time taken for the thruster to step from 0 to 100% should be about
4 times tau
type: float
default: 0.05
unit: s
SIH_VEHICLE_TYPE:
description:
short: Vehicle type
type: enum
values:
0: Quadcopter
1: Fixed-Wing
2: Tailsitter
3: Standard VTOL
4: Hexacopter
5: Rover Ackermann
default: 0
reboot_required: true
SIH_WIND_N:
description:
short: Wind velocity from north direction
type: float
default: 0.0
unit: m/s
SIH_WIND_E:
description:
short: Wind velocity from east direction
type: float
default: 0.0
unit: m/s