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https://github.com/PX4/PX4-Autopilot.git
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refactor(attitude_estimator_q): 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
@@ -38,6 +38,8 @@ px4_add_module(
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STACK_MAX 1600
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SRCS
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attitude_estimator_q_main.cpp
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MODULE_CONFIG
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attitude_estimator_q_params.yaml
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DEPENDS
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world_magnetic_model
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)
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@@ -1,146 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 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 attitude_estimator_q_params.c
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*
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* Parameters for attitude estimator (quaternion based)
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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/**
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* standalone attitude estimator enable (unsupported)
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*
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* Enable standalone quaternion based attitude estimator.
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*
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* @group Attitude Q estimator
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* @boolean
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*/
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PARAM_DEFINE_INT32(ATT_EN, 0);
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/**
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* Complimentary filter accelerometer weight
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*
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* @group Attitude Q estimator
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* @min 0
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* @max 1
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
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/**
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* Complimentary filter magnetometer weight
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*
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* Set to 0 to avoid using the magnetometer.
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*
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* @group Attitude Q estimator
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* @min 0
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* @max 1
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
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/**
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* Complimentary filter external heading weight
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*
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* @group Attitude Q estimator
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* @min 0
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* @max 1
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*/
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PARAM_DEFINE_FLOAT(ATT_W_EXT_HDG, 0.1f);
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/**
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* Complimentary filter gyroscope bias weight
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*
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* @group Attitude Q estimator
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* @min 0
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* @max 1
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
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/**
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* Magnetic declination, in degrees
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*
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* This parameter is not used in normal operation,
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* as the declination is looked up based on the
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* GPS coordinates of the vehicle.
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*
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* @group Attitude Q estimator
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* @unit deg
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
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/**
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* Automatic GPS based declination compensation
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*
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* @group Attitude Q estimator
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* @boolean
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*/
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PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1);
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/**
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* External heading usage mode (from Motion capture/Vision)
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*
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* Set to 1 to use heading estimate from vision.
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* Set to 2 to use heading from motion capture.
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*
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* @group Attitude Q estimator
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* @value 0 None
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* @value 1 Vision
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* @value 2 Motion Capture
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* @min 0
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* @max 2
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*/
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PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
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/**
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* Acceleration compensation based on GPS velocity.
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*
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* @group Attitude Q estimator
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* @boolean
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*/
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PARAM_DEFINE_INT32(ATT_ACC_COMP, 0);
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/**
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* Gyro bias limit
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*
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* @group Attitude Q estimator
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* @unit rad/s
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* @min 0
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);
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@@ -0,0 +1,86 @@
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module_name: attitude_estimator_q
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parameters:
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- group: Attitude Q estimator
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definitions:
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ATT_EN:
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description:
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short: standalone attitude estimator enable (unsupported)
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long: Enable standalone quaternion based attitude estimator.
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type: boolean
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default: 0
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ATT_W_ACC:
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description:
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short: Complimentary filter accelerometer weight
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type: float
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default: 0.2
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min: 0
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max: 1
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decimal: 2
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ATT_W_MAG:
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description:
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short: Complimentary filter magnetometer weight
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long: Set to 0 to avoid using the magnetometer.
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type: float
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default: 0.1
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min: 0
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max: 1
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decimal: 2
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ATT_W_EXT_HDG:
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description:
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short: Complimentary filter external heading weight
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type: float
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default: 0.1
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min: 0
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max: 1
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ATT_W_GYRO_BIAS:
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description:
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short: Complimentary filter gyroscope bias weight
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type: float
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default: 0.1
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min: 0
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max: 1
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decimal: 2
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ATT_MAG_DECL:
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description:
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short: Magnetic declination, in degrees
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long: |-
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This parameter is not used in normal operation,
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as the declination is looked up based on the
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GPS coordinates of the vehicle.
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type: float
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default: 0.0
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unit: deg
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decimal: 2
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ATT_MAG_DECL_A:
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description:
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short: Automatic GPS based declination compensation
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type: boolean
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default: 1
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ATT_EXT_HDG_M:
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description:
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short: External heading usage mode (from Motion capture/Vision)
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long: |-
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Set to 1 to use heading estimate from vision.
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Set to 2 to use heading from motion capture.
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type: enum
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values:
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0: None
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1: Vision
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2: Motion Capture
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default: 0
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min: 0
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max: 2
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ATT_ACC_COMP:
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description:
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short: Acceleration compensation based on GPS velocity
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type: boolean
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default: 0
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ATT_BIAS_MAX:
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description:
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short: Gyro bias limit
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type: float
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default: 0.05
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unit: rad/s
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min: 0
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max: 2
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decimal: 3
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