FlightTaskOrbit: parameterize hardcoded maximum radius (#20012)

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp

@@ -72,7 +72,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 
 	float new_velocity = signFromBool(new_is_clockwise) * new_absolute_velocity;
 
-	if (math::isInRange(new_radius, _radius_min, _radius_max)) {
+	if (math::isInRange(new_radius, _radius_min, _param_mc_orbit_rad_max.get())) {
 		_started_clockwise = new_is_clockwise;
 		_sanitizeParams(new_radius, new_velocity);
 		_orbit_radius = new_radius;
@@ -146,7 +146,7 @@ bool FlightTaskOrbit::sendTelemetry()
 void FlightTaskOrbit::_sanitizeParams(float &radius, float &velocity) const
 {
 	// clip the radius to be within range
-	radius = math::constrain(radius, _radius_min, _radius_max);
+	radius = math::constrain(radius, _radius_min, _param_mc_orbit_rad_max.get());
 	velocity = math::constrain(velocity, -fabsf(_velocity_max), fabsf(_velocity_max));
 
 	bool exceeds_maximum_acceleration = (velocity * velocity) >= _acceleration_max * radius;

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.hpp

@@ -70,7 +70,6 @@ protected:
 private:
 	/* TODO: Should be controlled by params */
 	static constexpr float _radius_min = 1.f;
-	static constexpr float _radius_max = 1e3f;
 	static constexpr float _velocity_max = 10.f;
 	static constexpr float _acceleration_max = 2.f;
 	static constexpr float _horizontal_acceptance_radius = 2.f;
@@ -132,6 +131,7 @@ private:
 	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
 
 	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::MC_ORBIT_RAD_MAX>) _param_mc_orbit_rad_max,
 		(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise, /**< cruise speed for circle approach */
 		(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
 		(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,

src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c

@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Maximum radius of orbit
+ *
+ * @unit m
+ * @min 1.0
+ * @max 10000.0
+ * @increment 0.5
+ * @decimal 1
+ * @group FlightTaskOrbit
+ */
+PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f);