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https://github.com/PX4/PX4-Autopilot.git
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refactor(landing_target_estimator): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -39,5 +39,7 @@ px4_add_module(
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landing_target_estimator_main.cpp
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landing_target_estimator_main.cpp
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LandingTargetEstimator.cpp
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LandingTargetEstimator.cpp
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KalmanFilter.cpp
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KalmanFilter.cpp
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MODULE_CONFIG
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landing_target_estimator_params.yaml
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DEPENDS
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DEPENDS
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)
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)
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@@ -1,189 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2014-2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file landing_target_estimator_params.c
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* Landing target estimator algorithm parameters.
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*
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* @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
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* @author Mohammed Kabir <kabir@uasys.io>
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*
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*/
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/**
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* Landing target mode
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*
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* Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation.
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*
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* Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning.
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* Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
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*
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* @min 0
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* @max 1
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* @group Landing Target Estimator
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* @value 0 Moving
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* @value 1 Stationary
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*/
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PARAM_DEFINE_INT32(LTEST_MODE, 0);
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/**
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* Acceleration uncertainty
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*
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* Variance of acceleration measurement used for landing target position prediction.
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* Higher values results in tighter following of the measurements and more lenient outlier rejection
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*
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* @unit (m/s^2)^2
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* @min 0.01
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* @decimal 2
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_ACC_UNC, 10.0f);
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/**
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* Landing target measurement uncertainty
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*
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* Variance of the landing target measurement from the driver.
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* Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.
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*
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* @unit tan(rad)^2
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* @decimal 4
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_MEAS_UNC, 0.005f);
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/**
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* Initial landing target position uncertainty
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*
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* Initial variance of the relative landing target position in x and y direction
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*
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* @unit m^2
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* @min 0.001
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* @decimal 3
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_POS_UNC_IN, 0.1f);
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/**
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* Initial landing target velocity uncertainty
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*
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* Initial variance of the relative landing target velocity in x and y directions
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*
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* @unit (m/s)^2
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* @min 0.001
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* @decimal 3
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 0.1f);
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/**
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* Scale factor for sensor measurements in sensor x axis
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*
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* Landing target x measurements are scaled by this factor before being used
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*
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* @min 0.01
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* @decimal 3
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_SCALE_X, 1.0f);
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/**
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* Scale factor for sensor measurements in sensor y axis
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*
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* Landing target y measurements are scaled by this factor before being used
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*
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* @min 0.01
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* @decimal 3
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*
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_FLOAT(LTEST_SCALE_Y, 1.0f);
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/**
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* Rotation of IRLOCK sensor relative to airframe
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*
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* Default orientation of Yaw 90°
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*
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* @value 0 No rotation
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* @value 1 Yaw 45°
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* @value 2 Yaw 90°
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* @value 3 Yaw 135°
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* @value 4 Yaw 180°
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* @value 5 Yaw 225°
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* @value 6 Yaw 270°
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* @value 7 Yaw 315°
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*
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* @min -1
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* @max 40
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* @reboot_required true
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* @group Landing Target Estimator
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*/
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PARAM_DEFINE_INT32(LTEST_SENS_ROT, 2);
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/**
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* X Position of IRLOCK in body frame (forward)
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*
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* @reboot_required true
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* @unit m
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* @decimal 3
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* @group Landing Target Estimator
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*
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*/
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PARAM_DEFINE_FLOAT(LTEST_SENS_POS_X, 0.0f);
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/**
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* Y Position of IRLOCK in body frame (right)
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*
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* @reboot_required true
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* @unit m
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* @decimal 3
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* @group Landing Target Estimator
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*
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*/
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PARAM_DEFINE_FLOAT(LTEST_SENS_POS_Y, 0.0f);
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/**
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* Z Position of IRLOCK in body frame (downward)
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*
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* @reboot_required true
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* @unit m
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* @decimal 3
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* @group Landing Target Estimator
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*
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*/
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PARAM_DEFINE_FLOAT(LTEST_SENS_POS_Z, 0.0f);
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@@ -0,0 +1,120 @@
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module_name: landing_target_estimator
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parameters:
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- group: Landing Target Estimator
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definitions:
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LTEST_MODE:
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description:
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short: Landing target mode
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long: |-
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Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation.
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Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning.
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Mode Stationary: The landing target is stationary. Measured velocity w.r.t. the landing target is used to aid velocity estimation.
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type: enum
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values:
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0: Moving
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1: Stationary
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default: 0
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min: 0
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max: 1
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LTEST_ACC_UNC:
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description:
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short: Acceleration uncertainty
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long: |-
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Variance of acceleration measurement used for landing target position prediction.
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Higher values results in tighter following of the measurements and more lenient outlier rejection
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type: float
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default: 10.0
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unit: (m/s^2)^2
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min: 0.01
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decimal: 2
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LTEST_MEAS_UNC:
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description:
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short: Landing target measurement uncertainty
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long: |-
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Variance of the landing target measurement from the driver.
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Higher values result in less aggressive following of the measurement and a smoother output as well as fewer rejected measurements.
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type: float
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default: 0.005
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unit: tan(rad)^2
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decimal: 4
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LTEST_POS_UNC_IN:
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description:
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short: Initial landing target position uncertainty
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long: Initial variance of the relative landing target position in x and y
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direction
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type: float
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default: 0.1
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unit: m^2
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min: 0.001
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decimal: 3
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LTEST_VEL_UNC_IN:
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description:
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short: Initial landing target velocity uncertainty
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long: Initial variance of the relative landing target velocity in x and y
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directions
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type: float
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default: 0.1
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unit: (m/s)^2
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min: 0.001
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decimal: 3
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LTEST_SCALE_X:
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description:
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short: Scale factor for sensor measurements in sensor x axis
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long: Landing target x measurements are scaled by this factor before being
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used
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type: float
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default: 1.0
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min: 0.01
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decimal: 3
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LTEST_SCALE_Y:
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description:
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short: Scale factor for sensor measurements in sensor y axis
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long: Landing target y measurements are scaled by this factor before being
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used
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type: float
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default: 1.0
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min: 0.01
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decimal: 3
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LTEST_SENS_ROT:
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description:
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short: Rotation of IRLOCK sensor relative to airframe
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long: "Default orientation of Yaw 90\xB0"
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type: enum
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values:
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0: No rotation
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1: "Yaw 45\xB0"
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2: "Yaw 90\xB0"
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3: "Yaw 135\xB0"
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4: "Yaw 180\xB0"
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5: "Yaw 225\xB0"
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6: "Yaw 270\xB0"
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7: "Yaw 315\xB0"
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default: 2
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min: -1
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max: 40
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reboot_required: true
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LTEST_SENS_POS_X:
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description:
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short: X Position of IRLOCK in body frame (forward)
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type: float
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default: 0.0
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reboot_required: true
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unit: m
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decimal: 3
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LTEST_SENS_POS_Y:
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description:
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short: Y Position of IRLOCK in body frame (right)
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type: float
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default: 0.0
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reboot_required: true
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unit: m
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decimal: 3
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LTEST_SENS_POS_Z:
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description:
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short: Z Position of IRLOCK in body frame (downward)
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type: float
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default: 0.0
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reboot_required: true
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unit: m
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decimal: 3
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