mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 19:32:36 +08:00
refactor(uuv_att_control): convert params.c to module.yaml
Convert 1 parameter file(s) from legacy C format to YAML module configuration.
This commit is contained in:
Jacob Dahl
Jacob Dahl
@@ -37,4 +37,6 @@ px4_add_module(
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COMPILE_FLAGS
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COMPILE_FLAGS
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SRCS
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SRCS
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uuv_att_control.cpp
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uuv_att_control.cpp
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MODULE_CONFIG
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uuv_att_control_params.yaml
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)
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)
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@@ -1,250 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2020 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 uuv_att_control_params.c
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*
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* Parameters defined by the attitude control task for unmanned underwater vehicles (UUVs)
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*
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* This is a modification of the fixed wing/ground rover params and it is designed for ground rovers.
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* It has been developed starting from the fw module, simplified and improved with dedicated items.
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*
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* All the ackowledgments and credits for the fw wing/rover app are reported in those files.
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*
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* @author Daniel Duecker <daniel.duecker@tuhh.de>
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* @author Pedro Roque <padr@kth.se>
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*/
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/*
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* Controller parameters, accessible via MAVLink
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*
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*/
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// Roll gains
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/**
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* Roll proportional gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_ROLL_P, 4.0f);
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/**
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* Roll differential gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_ROLL_D, 1.5f);
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// Pitch gains
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/**
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* Pitch proportional gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_PITCH_P, 4.0f);
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/**
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* Pitch differential gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_PITCH_D, 2.0f);
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// Yaw gains
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/**
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* Yawh proportional gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_YAW_P, 4.0f);
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/**
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* Yaw differential gain
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*
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* @group UUV Attitude Control
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_YAW_D, 2.0f);
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// Gains for Manual Inputs in different Modes
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/**
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* Roll gain for manual inputs in attitude control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_SGM_ROLL, 0.5f);
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/**
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* Pitch gain for manual inputs in attitude control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_SGM_PITCH, 0.5f);
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/**
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* Yaw gain for manual inputs in attitude control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_SGM_YAW, 0.5f);
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/**
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* Throttle gain for manual inputs in attitude control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_SGM_THRTL, 0.1f);
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/**
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* Roll gain for manual inputs in rate control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_RGM_ROLL, 100.0f);
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/**
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* Pitch gain for manual inputs in rate control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_RGM_PITCH, 100.0f);
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/**
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* Yaw gain for manual inputs in rate control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_RGM_YAW, 100.0f);
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/**
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* Throttle gain for manual inputs in rate control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_RGM_THRTL, 10.0f);
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/**
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* Roll gain for manual inputs in manual control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_MGM_ROLL, 0.05f);
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/**
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* Pitch gain for manual inputs in manual control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_MGM_PITCH, 0.05f);
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/**
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* Yaw gain for manual inputs in manual control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_MGM_YAW, 0.05f);
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/**
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* Throttle gain for manual inputs in manual control mode
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_MGM_THRTL, 0.1f);
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/**
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* UUV Torque setpoint Saturation
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @max 1.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_TORQUE_SAT, 0.3f);
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/**
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* UUV Thrust setpoint Saturation
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*
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* @group UUV Attitude Control
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* @min 0.0
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* @max 1.0
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(UUV_THRUST_SAT, 0.1f);
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/**
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* Maximum time (in seconds) before resetting setpoint
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*
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* @group UUV Attitude Control
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*/
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PARAM_DEFINE_FLOAT(UUV_SP_MAX_AGE, 2.0f);
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/**
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* Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll control)
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*
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* @group UUV Attitude Control
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(UUV_STICK_MODE, 0);
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@@ -0,0 +1,154 @@
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module_name: uuv_att_control
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parameters:
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- group: UUV Attitude Control
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definitions:
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UUV_ROLL_P:
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description:
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short: Roll proportional gain
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type: float
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default: 4.0
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decimal: 2
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UUV_ROLL_D:
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description:
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short: Roll differential gain
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type: float
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default: 1.5
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decimal: 2
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UUV_PITCH_P:
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description:
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short: Pitch proportional gain
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type: float
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default: 4.0
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decimal: 2
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UUV_PITCH_D:
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description:
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short: Pitch differential gain
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type: float
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default: 2.0
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decimal: 2
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UUV_YAW_P:
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description:
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short: Yawh proportional gain
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type: float
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default: 4.0
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decimal: 2
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UUV_YAW_D:
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description:
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short: Yaw differential gain
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type: float
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default: 2.0
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decimal: 2
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UUV_SGM_ROLL:
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description:
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short: Roll gain for manual inputs in attitude control mode
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type: float
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default: 0.5
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min: 0.0
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decimal: 2
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UUV_SGM_PITCH:
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description:
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short: Pitch gain for manual inputs in attitude control mode
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type: float
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default: 0.5
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min: 0.0
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decimal: 2
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UUV_SGM_YAW:
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description:
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short: Yaw gain for manual inputs in attitude control mode
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type: float
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default: 0.5
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min: 0.0
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decimal: 2
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UUV_SGM_THRTL:
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description:
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short: Throttle gain for manual inputs in attitude control mode
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type: float
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default: 0.1
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min: 0.0
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decimal: 2
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UUV_RGM_ROLL:
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description:
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short: Roll gain for manual inputs in rate control mode
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type: float
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default: 100.0
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min: 0.0
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decimal: 2
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UUV_RGM_PITCH:
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description:
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short: Pitch gain for manual inputs in rate control mode
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type: float
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default: 100.0
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min: 0.0
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decimal: 2
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UUV_RGM_YAW:
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description:
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short: Yaw gain for manual inputs in rate control mode
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type: float
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default: 100.0
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min: 0.0
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decimal: 2
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UUV_RGM_THRTL:
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description:
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short: Throttle gain for manual inputs in rate control mode
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type: float
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default: 10.0
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min: 0.0
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decimal: 2
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UUV_MGM_ROLL:
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description:
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short: Roll gain for manual inputs in manual control mode
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type: float
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default: 0.05
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min: 0.0
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decimal: 2
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UUV_MGM_PITCH:
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description:
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short: Pitch gain for manual inputs in manual control mode
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type: float
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default: 0.05
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min: 0.0
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decimal: 2
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UUV_MGM_YAW:
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description:
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short: Yaw gain for manual inputs in manual control mode
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type: float
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default: 0.05
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min: 0.0
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decimal: 2
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UUV_MGM_THRTL:
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description:
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short: Throttle gain for manual inputs in manual control mode
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type: float
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default: 0.1
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min: 0.0
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decimal: 2
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UUV_TORQUE_SAT:
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description:
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short: UUV Torque setpoint Saturation
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type: float
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default: 0.3
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min: 0.0
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max: 1.0
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decimal: 2
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UUV_THRUST_SAT:
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description:
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short: UUV Thrust setpoint Saturation
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type: float
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default: 0.1
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min: 0.0
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max: 1.0
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decimal: 2
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UUV_SP_MAX_AGE:
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description:
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short: Maximum time (in seconds) before resetting setpoint
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type: float
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default: 2.0
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UUV_STICK_MODE:
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description:
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short: UUV stick input mode
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long: Stick mode selector (0=Heave/sway control, roll/pitch leveled; 1=Pitch/roll
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control)
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type: int32
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default: 0
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min: 0
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max: 1
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