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refactor(sensors/vehicle_angular_velocity): convert params.c to module.yaml
Convert parameter definition(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -35,6 +35,7 @@ px4_add_library(vehicle_angular_velocity
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VehicleAngularVelocity.cpp
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VehicleAngularVelocity.hpp
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)
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set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/imu_gyro_parameters.yaml)
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target_compile_options(vehicle_angular_velocity
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PRIVATE
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@@ -0,0 +1,173 @@
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module_name: vehicle_angular_velocity
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parameters:
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- group: Sensors
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definitions:
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IMU_GYRO_NF0_FRQ:
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description:
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short: Notch filter frequency for gyro
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long: |-
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The center frequency for the 2nd order notch filter on the primary gyro.
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This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
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This only affects the signal sent to the controllers, not the estimators.
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Applies to both angular velocity and angular acceleration sent to the controllers.
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See "IMU_GYRO_NF0_BW" to set the bandwidth of the filter.
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A value of 0 disables the filter.
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type: float
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default: 0.0
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min: 0
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max: 1000
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_NF0_BW:
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description:
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short: Notch filter bandwidth for gyro
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long: |-
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The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
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See "IMU_GYRO_NF0_FRQ" to activate the filter and to set the notch frequency.
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Applies to both angular velocity and angular acceleration sent to the controllers.
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type: float
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default: 20.0
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min: 0
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max: 100
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_NF1_FRQ:
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description:
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short: Notch filter 2 frequency for gyro
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long: |-
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The center frequency for the 2nd order notch filter on the primary gyro.
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This filter can be enabled to avoid feedback amplification of structural resonances at a specific frequency.
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This only affects the signal sent to the controllers, not the estimators.
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Applies to both angular velocity and angular acceleration sent to the controllers.
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See "IMU_GYRO_NF1_BW" to set the bandwidth of the filter.
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A value of 0 disables the filter.
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type: float
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default: 0.0
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min: 0
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max: 1000
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_NF1_BW:
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description:
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short: Notch filter 1 bandwidth for gyro
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long: |-
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The frequency width of the stop band for the 2nd order notch filter on the primary gyro.
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See "IMU_GYRO_NF1_FRQ" to activate the filter and to set the notch frequency.
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Applies to both angular velocity and angular acceleration sent to the controllers.
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type: float
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default: 20.0
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min: 0
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max: 100
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_CUTOFF:
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description:
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short: Low pass filter cutoff frequency for gyro
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long: |-
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The cutoff frequency for the 2nd order butterworth filter on the primary gyro.
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This only affects the angular velocity sent to the controllers, not the estimators.
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It applies also to the angular acceleration (D-Term filter), see IMU_DGYRO_CUTOFF.
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A value of 0 disables the filter.
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type: float
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default: 40.0
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min: 0
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max: 1000
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_RATEMAX:
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description:
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short: Gyro control data maximum publication rate (inner loop rate)
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long: |-
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The maximum rate the gyro control data (vehicle_angular_velocity) will be
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allowed to publish at. This is the loop rate for the rate controller and outputs.
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Note: sensor data is always read and filtered at the full raw rate (eg commonly 8 kHz) regardless of this setting.
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type: enum
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values:
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100: 100 Hz
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250: 250 Hz
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400: 400 Hz
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800: 800 Hz
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1000: 1000 Hz
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2000: 2000 Hz
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default: 400
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min: 100
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max: 2000
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unit: Hz
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reboot_required: true
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IMU_DGYRO_CUTOFF:
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description:
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short: Cutoff frequency for angular acceleration (D-Term filter)
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long: |-
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The cutoff frequency for the 2nd order butterworth filter used on
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the time derivative of the measured angular velocity, also known as
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the D-term filter in the rate controller. The D-term uses the derivative of
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the rate and thus is the most susceptible to noise. Therefore, using
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a D-term filter allows to increase IMU_GYRO_CUTOFF, which
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leads to reduced control latency and permits to increase the P gains.
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A value of 0 disables the filter.
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type: float
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default: 20.0
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min: 0
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max: 1000
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unit: Hz
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increment: 0.1
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decimal: 1
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reboot_required: false
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IMU_GYRO_DNF_EN:
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description:
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short: IMU gyro dynamic notch filtering
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long: |-
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Enable bank of dynamically updating notch filters.
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Requires ESC RPM feedback or onboard FFT (IMU_GYRO_FFT_EN).
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type: bitmask
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bit:
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0: ESC RPM
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1: FFT
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default: 0
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min: 0
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max: 3
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IMU_GYRO_DNF_BW:
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description:
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short: IMU gyro ESC notch filter bandwidth
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long: Bandwidth per notch filter when using dynamic notch filtering with ESC
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RPM.
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type: float
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default: 15.0
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unit: Hz
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increment: 0.1
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decimal: 1
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min: 5
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max: 30
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IMU_GYRO_DNF_HMC:
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description:
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short: IMU gyro dynamic notch filter harmonics
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long: ESC RPM number of harmonics (multiples of RPM) for ESC RPM dynamic notch
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filtering.
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type: int32
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default: 3
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min: 1
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max: 7
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IMU_GYRO_DNF_MIN:
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description:
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short: IMU gyro dynamic notch filter minimum frequency
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long: Minimum notch filter frequency in Hz.
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type: float
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default: 25.0
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unit: Hz
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increment: 0.1
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decimal: 1
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