mirror of
https://github.com/PX4/PX4-Autopilot.git
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refactor(flight_mode_manager): convert params.c to module.yaml
Convert 4 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -1,36 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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 flight_mode_manager_params.c
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*/
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@@ -1,119 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2016-2022 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 follow_target_params.c
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*
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* Parameters for follow target mode
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*
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* @author Jimmy Johnson <catch22@fastmail.net>
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* @author Junwoo Hwang <junwoo091400@gmail.com>
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*/
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/**
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* Responsiveness to target movement in Target Estimator
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*
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* lower values increase the responsiveness to changing position, but also ignore less noise
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*
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* @min 0.0
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* @max 1.0
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* @decimal 2
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* @group Follow target
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*/
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PARAM_DEFINE_FLOAT(FLW_TGT_RS, 0.1f);
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/**
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* Follow target height
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*
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* Following height above the target
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*
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* @unit m
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* @min 8.0
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* @group Follow target
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*/
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PARAM_DEFINE_FLOAT(FLW_TGT_HT, 8.0f);
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/**
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* Distance to follow target from
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*
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* The distance in meters to follow the target at
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*
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* @unit m
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* @min 1.0
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* @group Follow target
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*/
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PARAM_DEFINE_FLOAT(FLW_TGT_DST, 8.0f);
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/**
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* Follow Angle setting in degrees
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*
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* Angle to follow the target from. 0.0 Equals straight in front of the target's
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* course (direction of motion) and the angle increases in clockwise direction,
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* meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees
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*
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* Note: When the user force sets the angle out of the min/max range, it will be
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* wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range.
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*
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* @min -180.0
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* @max 180.0
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* @group Follow target
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*/
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PARAM_DEFINE_FLOAT(FLW_TGT_FA, 180.0f);
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/**
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* Altitude control mode
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*
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* Maintain altitude or track target's altitude. When maintaining the altitude,
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* the drone can crash into terrain when the target moves uphill. When tracking
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* the target's altitude, the follow altitude FLW_TGT_HT should be high enough
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* to prevent terrain collisions due to GPS inaccuracies of the target.
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*
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* @value 0 2D Tracking: Maintain constant altitude relative to home and track XY position only
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* @value 1 2D + Terrain: Maintain constant altitude relative to terrain below and track XY position
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* @value 2 3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless)
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* @group Follow target
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*/
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PARAM_DEFINE_INT32(FLW_TGT_ALT_M, 0);
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/**
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* Maximum tangential velocity setting for generating the follow orbit trajectory
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*
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* This is the maximum tangential velocity the drone will circle around the target whenever
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* an orbit angle setpoint changes. Higher value means more aggressive follow behavior.
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*
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* @min 0.0
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* @max 20.0
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* @decimal 1
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* @group Follow target
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*/
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PARAM_DEFINE_FLOAT(FLW_TGT_MAX_VEL, 5.0f);
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-172
@@ -1,172 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 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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* 1. Redistributions of source code must retain the above copyright
|
||||
* 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
|
||||
* without specific prior written permission.
|
||||
*
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* 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
|
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* 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
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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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* Manual input mapped to scale horizontal velocity in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(MC_SLOW_MAP_HVEL, 0);
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/**
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* Manual input mapped to scale vertical velocity in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(MC_SLOW_MAP_VVEL, 0);
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/**
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* Manual input mapped to scale yaw rate in position slow mode
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*
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* @value 0 No rescaling
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(MC_SLOW_MAP_YAWR, 0);
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/**
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* Horizontal velocity lower limit
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*
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* The lowest input maps and is clamped to this velocity.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_MIN_HVEL, .3f);
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/**
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* Vertical velocity lower limit
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*
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* The lowest input maps and is clamped to this velocity.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_MIN_VVEL, .3f);
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/**
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* Yaw rate lower limit
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*
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* The lowest input maps and is clamped to this rate.
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*
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* @unit deg/s
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* @min 1
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* @increment 0.1
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* @decimal 0
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_MIN_YAWR, 3.f);
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/**
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* Default horizontal velocity limit
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*
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* This value is used in slow mode if
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* no aux channel is mapped and
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* no limit is commanded through MAVLink.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_DEF_HVEL, 3.f);
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/**
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* Default vertical velocity limit
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*
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* This value is used in slow mode if
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* no aux channel is mapped and
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* no limit is commanded through MAVLink.
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*
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* @unit m/s
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* @min 0.1
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* @increment 0.1
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* @decimal 2
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_DEF_VVEL, 1.f);
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/**
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* Default yaw rate limit
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*
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* This value is used in slow mode if
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* no aux channel is mapped and
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* no limit is commanded through MAVLink.
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*
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* @unit deg/s
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* @min 1
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* @increment 0.1
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* @decimal 0
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f);
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/**
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* RC_MAP_AUX{N} to allow for gimbal pitch rate control in position slow mode
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*
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* @value 0 No pitch rate input
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @group Multicopter Position Slow Mode
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*/
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PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 0);
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@@ -1,56 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 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
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
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||||
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/**
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* Maximum radius of orbit
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*
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* @unit m
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* @min 1.0
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* @max 10000.0
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* @increment 0.5
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* @decimal 1
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* @group Flight Task Orbit
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*/
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PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f);
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/**
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* Yaw behaviour during orbit flight.
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*
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* @value 0 Front to Circle Center
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* @value 1 Hold Initial Heading
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* @value 2 Uncontrolled
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* @value 3 Hold Front Tangent to Circle
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* @value 4 Manually (yaw stick) Controlled
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* @group Flight Task Orbit
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*/
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PARAM_DEFINE_INT32(MC_ORBIT_YAW_MOD, 0);
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