mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-30 04:06:33 +08:00
refactor(drivers/actuators/voxl_esc): 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
@@ -49,4 +49,5 @@ px4_add_module(
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mixer_module
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MODULE_CONFIG
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module.yaml
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voxl_esc_params.yaml
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)
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@@ -1,324 +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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* UART ESC configuration
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*
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* Selects what type of UART ESC, if any, is being used.
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @value 1 - VOXL ESC
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_CONFIG, 0);
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/**
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* UART ESC baud rate
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*
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* Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC products.
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*
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* @group VOXL ESC
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* @unit bit/s
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_BAUD, 250000);
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/**
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* Motor mappings for ModalAI ESC
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*
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* HW Channel Idexes (PX4 Indexes) (note: silkscreen shows 0 indexed)
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* 4(1) 3(4)
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* [front]
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* 1(3) 2(2)
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*/
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// The following are auto generated params from control allocator pattern, put here for reference
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// Default ESC1 to motor2
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//PARAM_DEFINE_INT32(VOXL_ESC_FUNC1, 102);
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//PARAM_DEFINE_INT32(VOXL_ESC_FUNC2, 103);
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//PARAM_DEFINE_INT32(VOXL_ESC_FUNC3, 101);
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//PARAM_DEFINE_INT32(VOXL_ESC_FUNC4, 104);
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/**
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* UART ESC RPM Min
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*
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* Minimum RPM for ESC
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*
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* @group VOXL ESC
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* @unit rpm
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_RPM_MIN, 5500);
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/**
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* UART ESC RPM Max
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*
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* Maximum RPM for ESC
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*
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* @group VOXL ESC
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* @unit rpm
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_RPM_MAX, 15000);
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/**
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* UART ESC Mode
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*
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* Selects what type of mode is enabled, if any
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - None
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* @value 1 - Turtle Mode enabled via AUX1
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* @value 2 - Turtle Mode enabled via AUX2
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* @value 3 - UART Passthrough Mode
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* @min 0
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* @max 2
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_MODE, 0);
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/**
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* UART ESC ID 1 Spin Direction Flag
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*
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* @group VOXL ESC
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* @value 0 - Default
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* @value 1 - Reverse
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_SDIR1, 0);
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/**
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* UART ESC ID 2 Spin Direction Flag
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*
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* @group VOXL ESC
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* @value 0 - Default
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* @value 1 - Reverse
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_SDIR2, 0);
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/**
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* UART ESC ID 3 Spin Direction Flag
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*
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* @group VOXL ESC
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* @value 0 - Default
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* @value 1 - Reverse
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_SDIR3, 0);
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/**
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* UART ESC ID 4 Spin Direction Flag
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*
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* @group VOXL ESC
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* @value 0 - Default
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* @value 1 - Reverse
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_SDIR4, 0);
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/**
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* UART ESC Turtle Mode Crash Flip Motor Percent
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*
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* @group VOXL ESC
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* @min 1
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* @max 100
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* @decimal 10
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* @increment 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_PERC, 90);
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/**
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* UART ESC Turtle Mode Crash Flip Motor Deadband
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*
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* @group VOXL ESC
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* @min 0
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* @max 100
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* @decimal 10
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* @increment 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_DEAD, 20);
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/**
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* UART ESC Turtle Mode Crash Flip Motor STICK_MINF
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*
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* @group VOXL ESC
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* @min 0.0
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* @max 100.0
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* @decimal 10
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* @increment 1.0
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*/
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PARAM_DEFINE_FLOAT(VOXL_ESC_T_MINF, 0.15);
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/**
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* UART ESC Turtle Mode Crash Flip Motor expo
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*
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* @group VOXL ESC
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* @min 0
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* @max 100
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* @decimal 10
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* @increment 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_EXPO, 35);
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/**
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* UART ESC Turtle Mode Cosphi
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*
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* @group VOXL ESC
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* @min 0.000
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* @max 1.000
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* @decimal 10
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* @increment 0.001
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*/
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PARAM_DEFINE_FLOAT(VOXL_ESC_T_COSP, 0.990);
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/**
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* UART ESC Turtle Mode button index for MAVLink manual control
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*
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* Specifies which button in the MAVLink MANUAL_CONTROL buttons field
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* activates turtle mode. Only used when data source is a MAVLink instance.
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* When data source is RC, turtle mode activation uses the AUX channel
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* selected by VOXL_ESC_MODE instead.
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* Set to -1 to disable turtle mode activation via MAVLink buttons.
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value -1 Disabled
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* @min -1
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* @max 15
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_ON, -1);
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/**
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* UART ESC verbose logging
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @value 1 - Enabled
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_VLOG, 0);
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/**
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* UART ESC Enable publishing of battery status
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*
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* Only applicable to ESCs that report total battery voltage and current
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @value 1 - Enabled
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_PUB_BST, 1);
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/**
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* UART ESC Temperature Warning Threshold (Degrees C)
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*
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* Only applicable to ESCs that report temperature
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @min 0
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* @max 200
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_WARN, 0);
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/**
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* UART ESC Over-Temperature Threshold (Degrees C)
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*
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* Only applicable to ESCs that report temperature
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @min 0
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* @max 200
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_T_OVER, 0);
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/**
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* GPIO Control Channel
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*
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - Disabled
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* @min 0
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* @max 6
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_GPIO_CH, 0);
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/**
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* UART ESC command type
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*
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* Selects between RPM or PWM commands
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*
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* @reboot_required true
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*
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* @group VOXL ESC
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* @value 0 - RPM
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* @value 1 - PWM
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_INT32(VOXL_ESC_CMD, 0);
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/**
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* UART ESC Minimum motor power
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*
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* Minimum motor power for ESC when VOXL_ESC_CMD is set for PWM.
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* Make sure to set this high enough so that the motors are always spinning
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* while armed.
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*
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* @group VOXL ESC
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* @min 0.0
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* @max 1.0
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*/
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PARAM_DEFINE_FLOAT(VOXL_ESC_PWR_MIN, 0.05);
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@@ -0,0 +1,223 @@
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module_name: voxl_esc
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parameters:
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- group: VOXL ESC
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definitions:
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VOXL_ESC_CONFIG:
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description:
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short: UART ESC configuration
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long: Selects what type of UART ESC, if any, is being used.
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type: enum
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values:
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0: '- Disabled'
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1: '- VOXL ESC'
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default: 0
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reboot_required: true
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min: 0
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max: 1
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VOXL_ESC_BAUD:
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description:
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short: UART ESC baud rate
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long: Default rate is 250Kbps, which is used in off-the-shelf MoadalAI ESC
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products.
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type: int32
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default: 250000
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unit: bit/s
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VOXL_ESC_RPM_MIN:
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description:
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short: UART ESC RPM Min
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long: Minimum RPM for ESC
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type: int32
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default: 5500
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unit: rpm
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VOXL_ESC_RPM_MAX:
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description:
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short: UART ESC RPM Max
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long: Maximum RPM for ESC
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type: int32
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default: 15000
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unit: rpm
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VOXL_ESC_MODE:
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description:
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short: UART ESC Mode
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long: Selects what type of mode is enabled, if any
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type: enum
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values:
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0: '- None'
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1: '- Turtle Mode enabled via AUX1'
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2: '- Turtle Mode enabled via AUX2'
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3: '- UART Passthrough Mode'
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default: 0
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reboot_required: true
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min: 0
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max: 2
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VOXL_ESC_SDIR1:
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description:
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short: UART ESC ID 1 Spin Direction Flag
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type: enum
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values:
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0: '- Default'
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1: '- Reverse'
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default: 0
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VOXL_ESC_SDIR2:
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description:
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short: UART ESC ID 2 Spin Direction Flag
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type: enum
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values:
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0: '- Default'
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1: '- Reverse'
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default: 0
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VOXL_ESC_SDIR3:
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description:
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short: UART ESC ID 3 Spin Direction Flag
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type: enum
|
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values:
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0: '- Default'
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1: '- Reverse'
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default: 0
|
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VOXL_ESC_SDIR4:
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description:
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short: UART ESC ID 4 Spin Direction Flag
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type: enum
|
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values:
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0: '- Default'
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1: '- Reverse'
|
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default: 0
|
||||
VOXL_ESC_T_PERC:
|
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description:
|
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short: UART ESC Turtle Mode Crash Flip Motor Percent
|
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type: int32
|
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default: 90
|
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min: 1
|
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max: 100
|
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decimal: 10
|
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increment: 1
|
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VOXL_ESC_T_DEAD:
|
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description:
|
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short: UART ESC Turtle Mode Crash Flip Motor Deadband
|
||||
type: int32
|
||||
default: 20
|
||||
min: 0
|
||||
max: 100
|
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decimal: 10
|
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increment: 1
|
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VOXL_ESC_T_MINF:
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description:
|
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short: UART ESC Turtle Mode Crash Flip Motor STICK_MINF
|
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type: float
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||||
default: 0.15
|
||||
min: 0.0
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||||
max: 100.0
|
||||
decimal: 10
|
||||
increment: 1.0
|
||||
VOXL_ESC_T_EXPO:
|
||||
description:
|
||||
short: UART ESC Turtle Mode Crash Flip Motor expo
|
||||
type: int32
|
||||
default: 35
|
||||
min: 0
|
||||
max: 100
|
||||
decimal: 10
|
||||
increment: 1
|
||||
VOXL_ESC_T_COSP:
|
||||
description:
|
||||
short: UART ESC Turtle Mode Cosphi
|
||||
type: float
|
||||
default: 0.99
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
decimal: 10
|
||||
increment: 0.001
|
||||
VOXL_ESC_T_ON:
|
||||
description:
|
||||
short: UART ESC Turtle Mode button index for MAVLink manual control
|
||||
long: |-
|
||||
Specifies which button in the MAVLink MANUAL_CONTROL buttons field
|
||||
activates turtle mode. Only used when data source is a MAVLink instance.
|
||||
When data source is RC, turtle mode activation uses the AUX channel
|
||||
selected by VOXL_ESC_MODE instead.
|
||||
Set to -1 to disable turtle mode activation via MAVLink buttons.
|
||||
type: enum
|
||||
values:
|
||||
-1: Disabled
|
||||
default: -1
|
||||
reboot_required: true
|
||||
min: -1
|
||||
max: 15
|
||||
VOXL_ESC_VLOG:
|
||||
description:
|
||||
short: UART ESC verbose logging
|
||||
type: enum
|
||||
values:
|
||||
0: '- Disabled'
|
||||
1: '- Enabled'
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 1
|
||||
VOXL_ESC_PUB_BST:
|
||||
description:
|
||||
short: UART ESC Enable publishing of battery status
|
||||
long: Only applicable to ESCs that report total battery voltage and current
|
||||
type: enum
|
||||
values:
|
||||
0: '- Disabled'
|
||||
1: '- Enabled'
|
||||
default: 1
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 1
|
||||
VOXL_ESC_T_WARN:
|
||||
description:
|
||||
short: UART ESC Temperature Warning Threshold (Degrees C)
|
||||
long: Only applicable to ESCs that report temperature
|
||||
type: enum
|
||||
values:
|
||||
0: '- Disabled'
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 200
|
||||
VOXL_ESC_T_OVER:
|
||||
description:
|
||||
short: UART ESC Over-Temperature Threshold (Degrees C)
|
||||
long: Only applicable to ESCs that report temperature
|
||||
type: enum
|
||||
values:
|
||||
0: '- Disabled'
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 200
|
||||
VOXL_ESC_GPIO_CH:
|
||||
description:
|
||||
short: GPIO Control Channel
|
||||
type: enum
|
||||
values:
|
||||
0: '- Disabled'
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 6
|
||||
VOXL_ESC_CMD:
|
||||
description:
|
||||
short: UART ESC command type
|
||||
long: Selects between RPM or PWM commands
|
||||
type: enum
|
||||
values:
|
||||
0: '- RPM'
|
||||
1: '- PWM'
|
||||
default: 0
|
||||
reboot_required: true
|
||||
min: 0
|
||||
max: 1
|
||||
VOXL_ESC_PWR_MIN:
|
||||
description:
|
||||
short: UART ESC Minimum motor power
|
||||
long: |-
|
||||
Minimum motor power for ESC when VOXL_ESC_CMD is set for PWM.
|
||||
Make sure to set this high enough so that the motors are always spinning
|
||||
while armed.
|
||||
type: float
|
||||
default: 0.05
|
||||
min: 0.0
|
||||
max: 1.0
|
||||
Reference in New Issue
Block a user