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Code Issues Actions 3 Packages Projects Releases Wiki Activity

params: make parameter units more consistent (#15502)

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This commit is contained in:
Hamish Willee
2020-08-24 19:33:08 +10:00
committed by GitHub
parent 9cebf3b969
commit 979243f38f
25 changed files with 127 additions and 109 deletions
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src/lib/battery/battery_params_deprecated.c
+1 -1
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@@ -95,7 +95,7 @@ PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
* BAT_V_LOAD_DROP for all calculations.
*
* @group Battery Calibration
* @unit Ohms
* @unit Ohm
* @min -1.0
* @max 0.2
* @reboot_required true
src/lib/collision_prevention/collisionprevention_params.c
+3 -3
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@@ -46,7 +46,7 @@
*
* @min -1
* @max 15
* @unit meters
* @unit m
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(CP_DIST, -1.0f);
@@ -58,7 +58,7 @@ PARAM_DEFINE_FLOAT(CP_DIST, -1.0f);
*
* @min 0
* @max 1
* @unit seconds
* @unit s
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(CP_DELAY, 0.4f);
@@ -70,7 +70,7 @@ PARAM_DEFINE_FLOAT(CP_DELAY, 0.4f);
*
* @min 0
* @max 90
* @unit [deg]
* @unit deg
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);
src/lib/parameters/parameters_injected.xml
+13 -15
View File
@@ -5,7 +5,7 @@
<parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc>
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
<unit>Hertz</unit>
<unit>Hz</unit>
<min>10</min>
<max>250</max>
</parameter>
@@ -24,7 +24,7 @@
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.</long_desc>
<unit>amp-seconds per radian</unit>
<unit>C/rad</unit>
<decimal>3</decimal>
<min>0.00</min>
<max>1.00</max>
@@ -32,7 +32,7 @@
<parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
<short_desc>Idle speed (e Hz)</short_desc>
<long_desc>Idle speed (e Hz)</long_desc>
<unit>Hertz</unit>
<unit>Hz</unit>
<decimal>3</decimal>
<min>0.0</min>
<max>100.0</max>
@@ -40,14 +40,13 @@
<parameter default="25" name="ctl_start_rate" type="INT32">
<short_desc>Spin-up rate (e Hz/s)</short_desc>
<long_desc>Spin-up rate (e Hz/s)</long_desc>
<unit>Hz/s</unit>
<unit>1/s^2</unit>
<min>5</min>
<max>1000</max>
</parameter>
<parameter default="0" name="esc_index" type="INT32">
<short_desc>Index of this ESC in throttle command messages.</short_desc>
<long_desc>Index of this ESC in throttle command messages.</long_desc>
<unit>Index</unit>
<min>0</min>
<max>15</max>
</parameter>
@@ -60,14 +59,14 @@
<parameter default="50000" name="int_ext_status" type="INT32">
<short_desc>Extended status interval (µs)</short_desc>
<long_desc>Extended status interval (µs)</long_desc>
<unit>µs</unit>
<unit>us</unit>
<min>0</min>
<max>1000000</max>
</parameter>
<parameter default="50000" name="int_status" type="INT32">
<short_desc>ESC status interval (µs)</short_desc>
<long_desc>ESC status interval (µs)</long_desc>
<unit>µs</unit>
<unit>us</unit>
<max>1000000</max>
</parameter>
<parameter default="12" name="mot_i_max" type="FLOAT">
@@ -78,7 +77,7 @@
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.</long_desc>
<unit>Amps</unit>
<unit>A</unit>
<decimal>3</decimal>
<min>1</min>
<max>80</max>
@@ -88,14 +87,14 @@
<long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.</long_desc>
<unit>RPM/v</unit>
<unit>rpm/V</unit>
<min>0</min>
<max>4000</max>
</parameter>
<parameter default="0.0" name="mot_ls" type="FLOAT">
<short_desc>READ ONLY: Motor inductance in henries.</short_desc>
<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
<unit>henries</unit>
<unit>H</unit>
<decimal>3</decimal>
</parameter>
<parameter default="14" name="mot_num_poles" type="INT32">
@@ -103,7 +102,6 @@
<long_desc>Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.</long_desc>
<unit>Poles</unit>
<min>2</min>
<max>40</max>
</parameter>
@@ -112,13 +110,13 @@
<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.</long_desc>
<unit>Ohms</unit>
<unit>Ohm</unit>
<decimal>3</decimal>
</parameter>
<parameter default="0.5" name="mot_v_accel" type="FLOAT">
<short_desc>Acceleration limit (V)</short_desc>
<long_desc>Acceleration limit (V)</long_desc>
<unit>Volts</unit>
<unit>V</unit>
<decimal>3</decimal>
<min>0.01</min>
<max>1.00</max>
@@ -130,7 +128,7 @@
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc>
<unit>Volts</unit>
<unit>V</unit>
<decimal>3</decimal>
<min>0</min>
</parameter>
@@ -192,7 +190,7 @@
used in the GNSS solution is below this threshold. Zero
disables the feature
</long_desc>
<unit>microseconds</unit>
<unit>us</unit>
<min>0</min>
<max>1000000</max>
</parameter>
src/lib/parameters/px4params/srcparser.py
+19
View File
@@ -346,6 +346,21 @@ class SourceParser(object):
Validates the parameter meta data.
"""
seenParamNames = []
#allowedUnits should match set defined in /Firmware/validation/module_schema.yaml
allowedUnits = set ([
'%', 'Hz', 'mAh',
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
'bit/s', 'B/s',
'deg', 'deg*1e7', 'deg/s',
'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
'hPa', 'kg', 'kg/m^2', 'kg m^2',
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
'Ohm', 'V',
'us', 'ms', 's',
'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
for group in self.GetParamGroups():
for param in group.GetParams():
name = param.GetName()
@@ -364,6 +379,10 @@ class SourceParser(object):
default = param.GetDefault()
min = param.GetFieldValue("min")
max = param.GetFieldValue("max")
units = param.GetFieldValue("unit")
if units not in allowedUnits:
sys.stderr.write("Invalid unit in {0}: {1}\n".format(name, units))
return False
#sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
if default != "" and not self.IsNumber(default):
sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
src/lib/systemlib/system_params.c
+3 -3
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@@ -179,7 +179,7 @@ PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);
* Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL.
* If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
*
* @unit deg C
* @unit celcius
* @min 10
* @group System
*/
@@ -190,7 +190,7 @@ PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);
*
* Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
*
* @unit deg C
* @unit celcius
* @group System
*/
PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
@@ -200,7 +200,7 @@ PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);
*
* Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
*
* @unit deg C
* @unit celcius
* @group System
*/
PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
src/lib/weather_vane/weathervane_params.c
+1 -1
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@@ -54,7 +54,7 @@ PARAM_DEFINE_INT32(WV_EN, 0);
*
* @min 0.0
* @max 3.0
* @unit 1/s
* @unit Hz
* @increment 0.01
* @decimal 3
* @group VTOL Attitude Control