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refactor(flight_mode_manager): convert params.c to module.yaml

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Convert 4 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:34 -08:00
committed by Jacob Dahl
parent 0252c79550
commit be8f2dd1ab
4 changed files with 0 additions and 383 deletions
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src/modules/flight_mode_manager/flight_mode_manager_params.c
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/****************************************************************************
*
* 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
*/
src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_params.c
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/****************************************************************************
*
* 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 <catch22@fastmail.net>
* @author Junwoo Hwang <junwoo091400@gmail.com>
*/
/**
* 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);
src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c
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/****************************************************************************
*
* 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);
src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.c
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/****************************************************************************
*
* 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);