diff --git a/src/modules/flight_mode_manager/flight_mode_manager_params.c b/src/modules/flight_mode_manager/flight_mode_manager_params.c deleted file mode 100644 index cfe2f760f7..0000000000 --- a/src/modules/flight_mode_manager/flight_mode_manager_params.c +++ /dev/null @@ -1,36 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 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. - * - ****************************************************************************/ - -/** - * @file flight_mode_manager_params.c - */ diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_params.c b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_params.c deleted file mode 100644 index 0aa6f9c1fa..0000000000 --- a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_params.c +++ /dev/null @@ -1,119 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2016-2022 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. - * - ****************************************************************************/ - -/** - * @file follow_target_params.c - * - * Parameters for follow target mode - * - * @author Jimmy Johnson - * @author Junwoo Hwang - */ - -/** - * Responsiveness to target movement in Target Estimator - * - * lower values increase the responsiveness to changing position, but also ignore less noise - * - * @min 0.0 - * @max 1.0 - * @decimal 2 - * @group Follow target - */ -PARAM_DEFINE_FLOAT(FLW_TGT_RS, 0.1f); - -/** - * Follow target height - * - * Following height above the target - * - * @unit m - * @min 8.0 - * @group Follow target - */ -PARAM_DEFINE_FLOAT(FLW_TGT_HT, 8.0f); - -/** - * Distance to follow target from - * - * The distance in meters to follow the target at - * - * @unit m - * @min 1.0 - * @group Follow target - */ -PARAM_DEFINE_FLOAT(FLW_TGT_DST, 8.0f); - -/** - * Follow Angle setting in degrees - * - * Angle to follow the target from. 0.0 Equals straight in front of the target's - * course (direction of motion) and the angle increases in clockwise direction, - * meaning Right-side would be 90.0 degrees while Left-side is -90.0 degrees - * - * Note: When the user force sets the angle out of the min/max range, it will be - * wrapped (e.g. 480 -> 120) in the range to gracefully handle the out of range. - * - * @min -180.0 - * @max 180.0 - * @group Follow target - */ -PARAM_DEFINE_FLOAT(FLW_TGT_FA, 180.0f); - -/** - * Altitude control mode - * - * Maintain altitude or track target's altitude. When maintaining the altitude, - * the drone can crash into terrain when the target moves uphill. When tracking - * the target's altitude, the follow altitude FLW_TGT_HT should be high enough - * to prevent terrain collisions due to GPS inaccuracies of the target. - * - * @value 0 2D Tracking: Maintain constant altitude relative to home and track XY position only - * @value 1 2D + Terrain: Maintain constant altitude relative to terrain below and track XY position - * @value 2 3D Tracking: Track target's altitude (be aware that GPS altitude bias usually makes this useless) - * @group Follow target - */ -PARAM_DEFINE_INT32(FLW_TGT_ALT_M, 0); - -/** - * Maximum tangential velocity setting for generating the follow orbit trajectory - * - * This is the maximum tangential velocity the drone will circle around the target whenever - * an orbit angle setpoint changes. Higher value means more aggressive follow behavior. - * - * @min 0.0 - * @max 20.0 - * @decimal 1 - * @group Follow target - */ -PARAM_DEFINE_FLOAT(FLW_TGT_MAX_VEL, 5.0f); diff --git a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c b/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c deleted file mode 100644 index 32558d98ea..0000000000 --- a/src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c +++ /dev/null @@ -1,172 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2023 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. - * - ****************************************************************************/ - -/** - * Manual input mapped to scale horizontal velocity in position slow mode - * - * @value 0 No rescaling - * @value 1 AUX1 - * @value 2 AUX2 - * @value 3 AUX3 - * @value 4 AUX4 - * @value 5 AUX5 - * @value 6 AUX6 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_INT32(MC_SLOW_MAP_HVEL, 0); - -/** - * Manual input mapped to scale vertical velocity in position slow mode - * - * @value 0 No rescaling - * @value 1 AUX1 - * @value 2 AUX2 - * @value 3 AUX3 - * @value 4 AUX4 - * @value 5 AUX5 - * @value 6 AUX6 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_INT32(MC_SLOW_MAP_VVEL, 0); - -/** - * Manual input mapped to scale yaw rate in position slow mode - * - * @value 0 No rescaling - * @value 1 AUX1 - * @value 2 AUX2 - * @value 3 AUX3 - * @value 4 AUX4 - * @value 5 AUX5 - * @value 6 AUX6 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_INT32(MC_SLOW_MAP_YAWR, 0); - -/** - * Horizontal velocity lower limit - * - * The lowest input maps and is clamped to this velocity. - * - * @unit m/s - * @min 0.1 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_MIN_HVEL, .3f); - -/** - * Vertical velocity lower limit - * - * The lowest input maps and is clamped to this velocity. - * - * @unit m/s - * @min 0.1 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_MIN_VVEL, .3f); - -/** - * Yaw rate lower limit - * - * The lowest input maps and is clamped to this rate. - * - * @unit deg/s - * @min 1 - * @increment 0.1 - * @decimal 0 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_MIN_YAWR, 3.f); - -/** - * Default horizontal velocity limit - * - * This value is used in slow mode if - * no aux channel is mapped and - * no limit is commanded through MAVLink. - * - * @unit m/s - * @min 0.1 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_DEF_HVEL, 3.f); - -/** - * Default vertical velocity limit - * - * This value is used in slow mode if - * no aux channel is mapped and - * no limit is commanded through MAVLink. - * - * @unit m/s - * @min 0.1 - * @increment 0.1 - * @decimal 2 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_DEF_VVEL, 1.f); - -/** - * Default yaw rate limit - * - * This value is used in slow mode if - * no aux channel is mapped and - * no limit is commanded through MAVLink. - * - * @unit deg/s - * @min 1 - * @increment 0.1 - * @decimal 0 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f); - -/** - * RC_MAP_AUX{N} to allow for gimbal pitch rate control in position slow mode - * - * @value 0 No pitch rate input - * @value 1 AUX1 - * @value 2 AUX2 - * @value 3 AUX3 - * @value 4 AUX4 - * @value 5 AUX5 - * @value 6 AUX6 - * @group Multicopter Position Slow Mode - */ -PARAM_DEFINE_INT32(MC_SLOW_MAP_PTCH, 0); diff --git a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c deleted file mode 100644 index 3134431975..0000000000 --- a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c +++ /dev/null @@ -1,56 +0,0 @@ -/**************************************************************************** - * - * 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 Flight Task Orbit - */ -PARAM_DEFINE_FLOAT(MC_ORBIT_RAD_MAX, 1000.0f); - -/** - * Yaw behaviour during orbit flight. - * - * @value 0 Front to Circle Center - * @value 1 Hold Initial Heading - * @value 2 Uncontrolled - * @value 3 Hold Front Tangent to Circle - * @value 4 Manually (yaw stick) Controlled - * @group Flight Task Orbit - */ -PARAM_DEFINE_INT32(MC_ORBIT_YAW_MOD, 0);