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multiplatform pos controller: Rename params to prevent mixup with MPC params

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This commit is contained in:
Lorenz Meier
2015-05-13 15:19:16 +02:00
parent e400ec586d
commit efb60ab779
3 changed files with 60 additions and 60 deletions
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src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+20 -20
View File
@@ -69,26 +69,26 @@ MulticopterPositionControl::MulticopterPositionControl() :
/* parameters */
_params_handles({
.thr_min = px4::ParameterFloat("MPC_THR_MIN", PARAM_MPC_THR_MIN_DEFAULT),
.thr_max = px4::ParameterFloat("MPC_THR_MAX", PARAM_MPC_THR_MAX_DEFAULT),
.z_p = px4::ParameterFloat("MPC_Z_P", PARAM_MPC_Z_P_DEFAULT),
.z_vel_p = px4::ParameterFloat("MPC_Z_VEL_P", PARAM_MPC_Z_VEL_P_DEFAULT),
.z_vel_i = px4::ParameterFloat("MPC_Z_VEL_I", PARAM_MPC_Z_VEL_I_DEFAULT),
.z_vel_d = px4::ParameterFloat("MPC_Z_VEL_D", PARAM_MPC_Z_VEL_D_DEFAULT),
.z_vel_max = px4::ParameterFloat("MPC_Z_VEL_MAX", PARAM_MPC_Z_VEL_MAX_DEFAULT),
.z_ff = px4::ParameterFloat("MPC_Z_FF", PARAM_MPC_Z_FF_DEFAULT),
.xy_p = px4::ParameterFloat("MPC_XY_P", PARAM_MPC_XY_P_DEFAULT),
.xy_vel_p = px4::ParameterFloat("MPC_XY_VEL_P", PARAM_MPC_XY_VEL_P_DEFAULT),
.xy_vel_i = px4::ParameterFloat("MPC_XY_VEL_I", PARAM_MPC_XY_VEL_I_DEFAULT),
.xy_vel_d = px4::ParameterFloat("MPC_XY_VEL_D", PARAM_MPC_XY_VEL_D_DEFAULT),
.xy_vel_max = px4::ParameterFloat("MPC_XY_VEL_MAX", PARAM_MPC_XY_VEL_MAX_DEFAULT),
.xy_ff = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT),
.tilt_max_air = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
.land_speed = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
.tilt_max_land = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT),
.man_roll_max = px4::ParameterFloat("MPC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MPC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MPC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT),
.thr_min = px4::ParameterFloat("MPP_THR_MIN", PARAM_MPP_THR_MIN_DEFAULT),
.thr_max = px4::ParameterFloat("MPP_THR_MAX", PARAM_MPP_THR_MAX_DEFAULT),
.z_p = px4::ParameterFloat("MPP_Z_P", PARAM_MPP_Z_P_DEFAULT),
.z_vel_p = px4::ParameterFloat("MPP_Z_VEL_P", PARAM_MPP_Z_VEL_P_DEFAULT),
.z_vel_i = px4::ParameterFloat("MPP_Z_VEL_I", PARAM_MPP_Z_VEL_I_DEFAULT),
.z_vel_d = px4::ParameterFloat("MPP_Z_VEL_D", PARAM_MPP_Z_VEL_D_DEFAULT),
.z_vel_max = px4::ParameterFloat("MPP_Z_VEL_MAX", PARAM_MPP_Z_VEL_MAX_DEFAULT),
.z_ff = px4::ParameterFloat("MPP_Z_FF", PARAM_MPP_Z_FF_DEFAULT),
.xy_p = px4::ParameterFloat("MPP_XY_P", PARAM_MPP_XY_P_DEFAULT),
.xy_vel_p = px4::ParameterFloat("MPP_XY_VEL_P", PARAM_MPP_XY_VEL_P_DEFAULT),
.xy_vel_i = px4::ParameterFloat("MPP_XY_VEL_I", PARAM_MPP_XY_VEL_I_DEFAULT),
.xy_vel_d = px4::ParameterFloat("MPP_XY_VEL_D", PARAM_MPP_XY_VEL_D_DEFAULT),
.xy_vel_max = px4::ParameterFloat("MPP_XY_VEL_MAX", PARAM_MPP_XY_VEL_MAX_DEFAULT),
.xy_ff = px4::ParameterFloat("MPP_XY_FF", PARAM_MPP_XY_FF_DEFAULT),
.tilt_max_air = px4::ParameterFloat("MPP_TILTMAX_AIR", PARAM_MPP_TILTMAX_AIR_DEFAULT),
.land_speed = px4::ParameterFloat("MPP_LAND_SPEED", PARAM_MPP_LAND_SPEED_DEFAULT),
.tilt_max_land = px4::ParameterFloat("MPP_TILTMAX_LND", PARAM_MPP_TILTMAX_LND_DEFAULT),
.man_roll_max = px4::ParameterFloat("MPP_MAN_R_MAX", PARAM_MPP_MAN_R_MAX_DEFAULT),
.man_pitch_max = px4::ParameterFloat("MPP_MAN_P_MAX", PARAM_MPP_MAN_P_MAX_DEFAULT),
.man_yaw_max = px4::ParameterFloat("MPP_MAN_Y_MAX", PARAM_MPP_MAN_Y_MAX_DEFAULT),
.mc_att_yaw_p = px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT)
}),
_ref_alt(0.0f),
src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c
+20 -20
View File
@@ -52,7 +52,7 @@
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_THR_MIN);
PX4_PARAM_DEFINE_FLOAT(MPP_THR_MIN);
/**
* Maximum thrust
@@ -63,7 +63,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_THR_MIN);
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_THR_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_THR_MAX);
/**
* Proportional gain for vertical position error
@@ -71,7 +71,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_THR_MAX);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_P);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_P);
/**
* Proportional gain for vertical velocity error
@@ -79,7 +79,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_P);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_P);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_P);
/**
* Integral gain for vertical velocity error
@@ -89,7 +89,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_P);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_I);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_I);
/**
* Differential gain for vertical velocity error
@@ -97,7 +97,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_I);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_D);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_D);
/**
* Maximum vertical velocity
@@ -108,7 +108,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_D);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_MAX);
/**
* Vertical velocity feed forward
@@ -119,7 +119,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX);
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_Z_FF);
PX4_PARAM_DEFINE_FLOAT(MPP_Z_FF);
/**
* Proportional gain for horizontal position error
@@ -127,7 +127,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_FF);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_P);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_P);
/**
* Proportional gain for horizontal velocity error
@@ -135,7 +135,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_P);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_P);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_P);
/**
* Integral gain for horizontal velocity error
@@ -145,7 +145,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_P);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_I);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_I);
/**
* Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
@@ -153,7 +153,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_I);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_D);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_D);
/**
* Maximum horizontal velocity
@@ -164,7 +164,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_D);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_MAX);
/**
* Horizontal velocity feed forward
@@ -175,7 +175,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX);
* @max 1.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_XY_FF);
PX4_PARAM_DEFINE_FLOAT(MPP_XY_FF);
/**
* Maximum tilt angle in air
@@ -187,7 +187,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_FF);
* @max 90.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR);
PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_AIR);
/**
* Maximum tilt during landing
@@ -199,7 +199,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR);
* @max 90.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_LND);
/**
* Landing descend rate
@@ -208,7 +208,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
* @min 0.0
* @group Multicopter Position Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
PX4_PARAM_DEFINE_FLOAT(MPP_LAND_SPEED);
/**
* Max manual roll
@@ -218,7 +218,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_R_MAX);
/**
* Max manual pitch
@@ -228,7 +228,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
* @max 90.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_P_MAX);
/**
* Max manual yaw rate
@@ -237,5 +237,5 @@ PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX);
PX4_PARAM_DEFINE_FLOAT(MPP_MAN_Y_MAX);
src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h
+20 -20
View File
@@ -41,24 +41,24 @@
#pragma once
#define PARAM_MPC_THR_MIN_DEFAULT 0.1f
#define PARAM_MPC_THR_MAX_DEFAULT 1.0f
#define PARAM_MPC_Z_P_DEFAULT 1.0f
#define PARAM_MPC_Z_VEL_P_DEFAULT 0.1f
#define PARAM_MPC_Z_VEL_I_DEFAULT 0.02f
#define PARAM_MPC_Z_VEL_D_DEFAULT 0.0f
#define PARAM_MPC_Z_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPC_Z_FF_DEFAULT 0.5f
#define PARAM_MPC_XY_P_DEFAULT 1.0f
#define PARAM_MPC_XY_VEL_P_DEFAULT 0.1f
#define PARAM_MPC_XY_VEL_I_DEFAULT 0.02f
#define PARAM_MPC_XY_VEL_D_DEFAULT 0.01f
#define PARAM_MPC_XY_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPC_XY_FF_DEFAULT 0.5f
#define PARAM_MPC_TILTMAX_AIR_DEFAULT 45.0f
#define PARAM_MPC_TILTMAX_LND_DEFAULT 15.0f
#define PARAM_MPC_LAND_SPEED_DEFAULT 1.0f
#define PARAM_MPC_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MPC_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MPC_MAN_Y_MAX_DEFAULT 120.0f
#define PARAM_MPP_THR_MIN_DEFAULT 0.1f
#define PARAM_MPP_THR_MAX_DEFAULT 1.0f
#define PARAM_MPP_Z_P_DEFAULT 1.0f
#define PARAM_MPP_Z_VEL_P_DEFAULT 0.1f
#define PARAM_MPP_Z_VEL_I_DEFAULT 0.02f
#define PARAM_MPP_Z_VEL_D_DEFAULT 0.0f
#define PARAM_MPP_Z_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPP_Z_FF_DEFAULT 0.5f
#define PARAM_MPP_XY_P_DEFAULT 1.0f
#define PARAM_MPP_XY_VEL_P_DEFAULT 0.1f
#define PARAM_MPP_XY_VEL_I_DEFAULT 0.02f
#define PARAM_MPP_XY_VEL_D_DEFAULT 0.01f
#define PARAM_MPP_XY_VEL_MAX_DEFAULT 5.0f
#define PARAM_MPP_XY_FF_DEFAULT 0.5f
#define PARAM_MPP_TILTMAX_AIR_DEFAULT 45.0f
#define PARAM_MPP_TILTMAX_LND_DEFAULT 15.0f
#define PARAM_MPP_LAND_SPEED_DEFAULT 1.0f
#define PARAM_MPP_MAN_R_MAX_DEFAULT 35.0f
#define PARAM_MPP_MAN_P_MAX_DEFAULT 35.0f
#define PARAM_MPP_MAN_Y_MAX_DEFAULT 120.0f