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Parameter update - Rename variables in modules/navigator

Browse Source 
using parameter_update.py script
This commit is contained in:
bresch
2019-03-25 14:24:25 +01:00
committed by Matthias Grob
parent e575f032e4
commit f3990c84fc
18 changed files with 116 additions and 116 deletions
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src/modules/navigator/datalinkloss.cpp
+11 -11
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@@ -97,15 +97,15 @@ DataLinkLoss::set_dll_item()
switch (_dll_state) {
case DLL_STATE_FLYTOCOMMSHOLDWP: {
_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
_mission_item.lat = (double)(_param_nav_dll_ch_lat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_nav_dll_ch_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_commsholdalt.get();
_mission_item.altitude = _param_nav_dll_ch_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
_mission_item.time_inside = _param_nav_dll_ch_t.get() < 0.0f ? 0.0f : _param_nav_dll_ch_t.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -114,14 +114,14 @@ DataLinkLoss::set_dll_item()
}
case DLL_STATE_FLYTOAIRFIELDHOMEWP: {
_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
_mission_item.lat = (double)(_param_nav_ah_lat.get()) * 1.0e-7;
_mission_item.lon = (double)(_param_nav_ah_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _param_airfieldhomealt.get();
_mission_item.altitude = _param_nav_ah_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get();
_mission_item.time_inside = _param_nav_dll_ah_t.get() < 0.0f ? 0.0f : _param_nav_dll_ah_t.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -163,9 +163,9 @@ DataLinkLoss::advance_dll()
/* Check the number of data link losses. If above home fly home directly */
/* if number of data link losses limit is not reached fly to comms hold wp */
if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
if (_navigator->get_vstatus()->data_link_lost_counter > _param_nav_dll_n.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
_navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
_navigator->get_vstatus()->data_link_lost_counter, _param_nav_dll_n.get());
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
@@ -173,7 +173,7 @@ DataLinkLoss::advance_dll()
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
if (!_param_skipcommshold.get()) {
if (!_param_nav_dll_chsk.get()) {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
src/modules/navigator/datalinkloss.h
+10 -10
View File
@@ -59,16 +59,16 @@ public:
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_DLL_CH_T>) _param_commsholdwaittime,
(ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_commsholdlat, // * 1e7
(ParamInt<px4::params::NAV_DLL_CH_LON>) _param_commsholdlon, // * 1e7
(ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_commsholdalt,
(ParamInt<px4::params::NAV_AH_LAT>) _param_airfieldhomelat, // * 1e7
(ParamInt<px4::params::NAV_AH_LON>) _param_airfieldhomelon, // * 1e7
(ParamFloat<px4::params::NAV_AH_ALT>) _param_airfieldhomealt,
(ParamFloat<px4::params::NAV_DLL_AH_T>) _param_airfieldhomewaittime,
(ParamInt<px4::params::NAV_DLL_N>) _param_numberdatalinklosses,
(ParamInt<px4::params::NAV_DLL_CHSK>) _param_skipcommshold
(ParamFloat<px4::params::NAV_DLL_CH_T>) _param_nav_dll_ch_t,
(ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_nav_dll_ch_lat, // * 1e7
(ParamInt<px4::params::NAV_DLL_CH_LON>) _param_nav_dll_ch_lon, // * 1e7
(ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_nav_dll_ch_alt,
(ParamInt<px4::params::NAV_AH_LAT>) _param_nav_ah_lat, // * 1e7
(ParamInt<px4::params::NAV_AH_LON>) _param_nav_ah_lon, // * 1e7
(ParamFloat<px4::params::NAV_AH_ALT>) _param_nav_ah_alt,
(ParamFloat<px4::params::NAV_DLL_AH_T>) _param_nav_dll_ah_t,
(ParamInt<px4::params::NAV_DLL_N>) _param_nav_dll_n,
(ParamInt<px4::params::NAV_DLL_CHSK>) _param_nav_dll_chsk
)
enum DLLState {
src/modules/navigator/follow_target.cpp
+6 -6
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@@ -79,11 +79,11 @@ void FollowTarget::on_inactive()
void FollowTarget::on_activation()
{
_follow_offset = _param_tracking_dist.get() < 1.0F ? 1.0F : _param_tracking_dist.get();
_follow_offset = _param_nav_ft_dst.get() < 1.0F ? 1.0F : _param_nav_ft_dst.get();
_responsiveness = math::constrain((float) _param_tracking_resp.get(), .1F, 1.0F);
_responsiveness = math::constrain((float) _param_nav_ft_rs.get(), .1F, 1.0F);
_follow_target_position = _param_tracking_side.get();
_follow_target_position = _param_nav_ft_fs.get();
if ((_follow_target_position > FOLLOW_FROM_LEFT) || (_follow_target_position < FOLLOW_FROM_RIGHT)) {
_follow_target_position = FOLLOW_FROM_BEHIND;
@@ -250,7 +250,7 @@ void FollowTarget::on_active()
_follow_target_state = TRACK_VELOCITY;
} else if (target_velocity_valid()) {
set_follow_target_item(&_mission_item, _param_min_alt.get(), target_motion_with_offset, _yaw_angle);
set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target_motion_with_offset, _yaw_angle);
// keep the current velocity updated with the target velocity for when it's needed
_current_vel = _est_target_vel;
@@ -275,7 +275,7 @@ void FollowTarget::on_active()
_last_update_time = current_time;
}
set_follow_target_item(&_mission_item, _param_min_alt.get(), target_motion_with_offset, _yaw_angle);
set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target_motion_with_offset, _yaw_angle);
update_position_sp(true, false, _yaw_rate);
@@ -299,7 +299,7 @@ void FollowTarget::on_active()
target.lon = _navigator->get_global_position()->lon;
target.alt = 0.0F;
set_follow_target_item(&_mission_item, _param_min_alt.get(), target, _yaw_angle);
set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target, _yaw_angle);
update_position_sp(false, false, _yaw_rate);
src/modules/navigator/follow_target.h
+4 -4
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@@ -90,10 +90,10 @@ private:
};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_MIN_FT_HT>) _param_min_alt,
(ParamFloat<px4::params::NAV_FT_DST>) _param_tracking_dist,
(ParamInt<px4::params::NAV_FT_FS>) _param_tracking_side,
(ParamFloat<px4::params::NAV_FT_RS>) _param_tracking_resp
(ParamFloat<px4::params::NAV_MIN_FT_HT>) _param_nav_min_ft_ht,
(ParamFloat<px4::params::NAV_FT_DST>) _param_nav_ft_dst,
(ParamInt<px4::params::NAV_FT_FS>) _param_nav_ft_fs,
(ParamFloat<px4::params::NAV_FT_RS>) _param_nav_ft_rs
)
FollowTargetState _follow_target_state{SET_WAIT_FOR_TARGET_POSITION};
src/modules/navigator/geofence.cpp
+5 -5
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@@ -224,8 +224,8 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
if (isHomeRequired() && _navigator->home_position_valid()) {
const float max_horizontal_distance = _param_max_hor_distance.get();
const float max_vertical_distance = _param_max_ver_distance.get();
const float max_horizontal_distance = _param_gf_max_hor_dist.get();
const float max_vertical_distance = _param_gf_max_ver_dist.get();
const double home_lat = _navigator->get_home_position()->lat;
const double home_lon = _navigator->get_home_position()->lon;
@@ -268,7 +268,7 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
} else {
_outside_counter++;
if (_outside_counter > _param_counter_threshold.get()) {
if (_outside_counter > _param_gf_count.get()) {
return inside_fence;
} else {
@@ -568,8 +568,8 @@ int Geofence::clearDm()
bool Geofence::isHomeRequired()
{
bool max_horizontal_enabled = (_param_max_hor_distance.get() > FLT_EPSILON);
bool max_vertical_enabled = (_param_max_ver_distance.get() > FLT_EPSILON);
bool max_horizontal_enabled = (_param_gf_max_hor_dist.get() > FLT_EPSILON);
bool max_vertical_enabled = (_param_gf_max_ver_dist.get() > FLT_EPSILON);
bool geofence_action_rtl = (getGeofenceAction() == geofence_result_s::GF_ACTION_RTL);
return max_horizontal_enabled || max_vertical_enabled || geofence_action_rtl;
src/modules/navigator/geofence.h
+9 -9
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@@ -124,9 +124,9 @@ public:
bool isEmpty() { return _num_polygons == 0; }
int getAltitudeMode() { return _param_altitude_mode.get(); }
int getSource() { return _param_source.get(); }
int getGeofenceAction() { return _param_action.get(); }
int getAltitudeMode() { return _param_gf_altmode.get(); }
int getSource() { return _param_gf_source.get(); }
int getGeofenceAction() { return _param_gf_action.get(); }
bool isHomeRequired();
@@ -158,12 +158,12 @@ private:
map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
DEFINE_PARAMETERS(
(ParamInt<px4::params::GF_ACTION>) _param_action,
(ParamInt<px4::params::GF_ALTMODE>) _param_altitude_mode,
(ParamInt<px4::params::GF_SOURCE>) _param_source,
(ParamInt<px4::params::GF_COUNT>) _param_counter_threshold,
(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_max_hor_distance,
(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_max_ver_distance
(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
(ParamInt<px4::params::GF_ALTMODE>) _param_gf_altmode,
(ParamInt<px4::params::GF_SOURCE>) _param_gf_source,
(ParamInt<px4::params::GF_COUNT>) _param_gf_count,
(ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
)
uORB::Subscription<vehicle_air_data_s> _sub_airdata;
src/modules/navigator/gpsfailure.cpp
+5 -5
View File
@@ -85,9 +85,9 @@ GpsFailure::on_active()
* navigator has to publish an attitude setpoint */
vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
att_sp.roll_body = math::radians(_param_openlooploiter_roll.get());
att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get());
att_sp.thrust_body[0] = _param_openlooploiter_thrust.get();
att_sp.roll_body = math::radians(_param_nav_gpsf_r.get());
att_sp.pitch_body = math::radians(_param_nav_gpsf_p.get());
att_sp.thrust_body[0] = _param_nav_gpsf_tr.get();
Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
q.copyTo(att_sp.q_d);
@@ -103,8 +103,8 @@ GpsFailure::on_active()
}
/* Measure time */
if ((_param_loitertime.get() > FLT_EPSILON) &&
(hrt_elapsed_time(&_timestamp_activation) > _param_loitertime.get() * 1e6f)) {
if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&
(hrt_elapsed_time(&_timestamp_activation) > _param_nav_gpsf_lt.get() * 1e6f)) {
/* no recovery, advance the state machine */
PX4_WARN("GPS not recovered, switching to next failure state");
advance_gpsf();
src/modules/navigator/gpsfailure.h
+4 -4
View File
@@ -57,10 +57,10 @@ public:
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_GPSF_LT>) _param_loitertime,
(ParamFloat<px4::params::NAV_GPSF_R>) _param_openlooploiter_roll,
(ParamFloat<px4::params::NAV_GPSF_P>) _param_openlooploiter_pitch,
(ParamFloat<px4::params::NAV_GPSF_TR>) _param_openlooploiter_thrust
(ParamFloat<px4::params::NAV_GPSF_LT>) _param_nav_gpsf_lt,
(ParamFloat<px4::params::NAV_GPSF_R>) _param_nav_gpsf_r,
(ParamFloat<px4::params::NAV_GPSF_P>) _param_nav_gpsf_p,
(ParamFloat<px4::params::NAV_GPSF_TR>) _param_nav_gpsf_tr
)
enum GPSFState {
src/modules/navigator/mission.cpp
+4 -4
View File
@@ -226,7 +226,7 @@ Mission::on_active()
set_mission_items();
}
} else if (_mission_type != MISSION_TYPE_NONE && _param_altmode.get() == MISSION_ALTMODE_FOH) {
} else if (_mission_type != MISSION_TYPE_NONE && _param_mis_altmode.get() == MISSION_ALTMODE_FOH) {
altitude_sp_foh_update();
@@ -243,7 +243,7 @@ Mission::on_active()
}
/* see if we need to update the current yaw heading */
if (!_param_mnt_yaw_ctl.get() && (_navigator->get_vstatus()->is_rotary_wing)
if (!_param_mis_mnt_yaw_ctl.get() && (_navigator->get_vstatus()->is_rotary_wing)
&& (_navigator->get_vroi().mode != vehicle_roi_s::ROI_NONE)
&& !(_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
@@ -1612,8 +1612,8 @@ Mission::check_mission_valid(bool force)
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(_mission,
_param_dist_1wp.get(),
_param_dist_between_wps.get(),
_param_mis_dist_1wp.get(),
_param_mis_dist_wps.get(),
_navigator->mission_landing_required());
_navigator->get_mission_result()->seq_total = _mission.count;
src/modules/navigator/mission.h
+4 -4
View File
@@ -236,10 +236,10 @@ private:
bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MIS_DIST_1WP>) _param_dist_1wp,
(ParamFloat<px4::params::MIS_DIST_WPS>) _param_dist_between_wps,
(ParamInt<px4::params::MIS_ALTMODE>) _param_altmode,
(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mnt_yaw_ctl
(ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
(ParamFloat<px4::params::MIS_DIST_WPS>) _param_mis_dist_wps,
(ParamInt<px4::params::MIS_ALTMODE>) _param_mis_altmode,
(ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
)
struct mission_s _mission {};
src/modules/navigator/navigator.h
+18 -18
View File
@@ -169,7 +169,7 @@ public:
Geofence &get_geofence() { return _geofence; }
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
float get_loiter_radius() { return _param_loiter_radius.get(); }
float get_loiter_radius() { return _param_nav_loiter_rad.get(); }
/**
* Returns the default acceptance radius defined by the parameter
@@ -279,11 +279,11 @@ public:
bool abort_landing();
// Param access
float get_loiter_min_alt() const { return _param_loiter_min_alt.get(); }
float get_takeoff_min_alt() const { return _param_takeoff_min_alt.get(); }
bool get_takeoff_required() const { return _param_takeoff_required.get(); }
float get_yaw_timeout() const { return _param_yaw_timeout.get(); }
float get_yaw_threshold() const { return _param_yaw_err.get(); }
float get_loiter_min_alt() const { return _param_mis_ltrmin_alt.get(); }
float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); }
bool get_takeoff_required() const { return _param_mis_takeoff_req.get(); }
float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); }
float get_yaw_threshold() const { return _param_mis_yaw_err.get(); }
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
float get_vtol_reverse_delay() const { return _param_reverse_delay; }
@@ -357,24 +357,24 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_loiter_radius, /**< loiter radius for fixedwing */
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_acceptance_radius, /**< acceptance for takeoff */
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
(ParamFloat<px4::params::NAV_FW_ALT_RAD>)
_param_fw_alt_acceptance_radius, /**< acceptance radius for fixedwing altitude */
_param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
_param_fw_alt_lnd_acceptance_radius, /**< acceptance radius for fixedwing altitude before landing*/
_param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
_param_mc_alt_acceptance_radius, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_FORCE_VT>) _param_force_vtol, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_traffic_avoidance_mode, /**< avoiding other aircraft is enabled */
_param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
// non-navigator parameters
// Mission (MIS_*)
(ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_loiter_min_alt,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_takeoff_min_alt,
(ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_takeoff_required,
(ParamFloat<px4::params::MIS_YAW_TMT>) _param_yaw_timeout,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_yaw_err
(ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
(ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
(ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
)
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
src/modules/navigator/navigator_main.cpp
+7 -7
View File
@@ -856,23 +856,23 @@ Navigator::publish_position_setpoint_triplet()
float
Navigator::get_default_acceptance_radius()
{
return _param_acceptance_radius.get();
return _param_nav_acc_rad.get();
}
float
Navigator::get_acceptance_radius()
{
return get_acceptance_radius(_param_acceptance_radius.get());
return get_acceptance_radius(_param_nav_acc_rad.get());
}
float
Navigator::get_default_altitude_acceptance_radius()
{
if (!get_vstatus()->is_rotary_wing) {
return _param_fw_alt_acceptance_radius.get();
return _param_nav_fw_alt_rad.get();
} else {
float alt_acceptance_radius = _param_mc_alt_acceptance_radius.get();
float alt_acceptance_radius = _param_nav_mc_alt_rad.get();
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
@@ -893,7 +893,7 @@ Navigator::get_altitude_acceptance_radius()
if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
// Use separate (tighter) altitude acceptance for clean altitude starting point before landing
return _param_fw_alt_lnd_acceptance_radius.get();
return _param_nav_fw_altl_rad.get();
}
}
@@ -1109,7 +1109,7 @@ void Navigator::check_traffic()
// direction of traffic in human-readable 0..360 degree in earth frame
int traffic_direction = math::degrees(tr.heading) + 180;
switch (_param_traffic_avoidance_mode.get()) {
switch (_param_nav_traff_avoid.get()) {
case 0: {
/* ignore */
@@ -1182,7 +1182,7 @@ Navigator::force_vtol()
{
return _vstatus.is_vtol &&
(!_vstatus.is_rotary_wing || _vstatus.in_transition_to_fw)
&& _param_force_vtol.get();
&& _param_nav_force_vt.get();
}
int Navigator::print_usage(const char *reason)
src/modules/navigator/precland.cpp
+10 -10
View File
@@ -118,7 +118,7 @@ PrecLand::on_active()
_target_pose_valid = true;
}
if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e6f) > _param_timeout.get()) {
if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e6f) > _param_pld_btout.get()) {
_target_pose_valid = false;
}
@@ -203,7 +203,7 @@ PrecLand::run_state_start()
}
// if we don't see the target after 1 second, search for it
if (_param_search_timeout.get() > 0) {
if (_param_pld_srch_tout.get() > 0) {
if (hrt_absolute_time() - _point_reached_time > 2000000) {
if (!switch_to_state_search()) {
@@ -353,7 +353,7 @@ PrecLand::run_state_search()
}
// check if search timed out and go to fallback
if (hrt_absolute_time() - _state_start_time > _param_search_timeout.get()*SEC2USEC) {
if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) {
PX4_WARN("Search timed out");
if (!switch_to_state_fallback()) {
@@ -434,7 +434,7 @@ PrecLand::switch_to_state_search()
vehicle_local_position_s *vehicle_local_position = _navigator->get_local_position();
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_search_alt.get();
pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_pld_srch_alt.get();
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_navigator->set_position_setpoint_triplet_updated();
@@ -475,14 +475,14 @@ bool PrecLand::check_state_conditions(PrecLandState state)
switch (state) {
case PrecLandState::Start:
return _search_cnt <= _param_max_searches.get();
return _search_cnt <= _param_pld_max_srch.get();
case PrecLandState::HorizontalApproach:
// if we're already in this state, only want to make it invalid if we reached the target but can't see it anymore
if (_state == PrecLandState::HorizontalApproach) {
if (fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
&& fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get()) {
if (fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_pld_hacc_rad.get()
&& fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_pld_hacc_rad.get()) {
// we've reached the position where we last saw the target. If we don't see it now, we need to do something
return _target_pose_valid && _target_pose.abs_pos_valid;
@@ -511,13 +511,13 @@ bool PrecLand::check_state_conditions(PrecLandState state)
} else {
// if not already in this state, need to be above target to enter it
return _target_pose_updated && _target_pose.abs_pos_valid
&& fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
&& fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get();
&& fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_pld_hacc_rad.get()
&& fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_pld_hacc_rad.get();
}
case PrecLandState::FinalApproach:
return _target_pose_valid && _target_pose.abs_pos_valid
&& (_target_pose.z_abs - vehicle_local_position->z) < _param_final_approach_alt.get();
&& (_target_pose.z_abs - vehicle_local_position->z) < _param_pld_fappr_alt.get();
case PrecLandState::Search:
return true;
src/modules/navigator/precland.h
+6 -6
View File
@@ -125,12 +125,12 @@ private:
PrecLandMode _mode{PrecLandMode::Opportunistic};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,
(ParamFloat<px4::params::PLD_HACC_RAD>) _param_hacc_rad,
(ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_final_approach_alt,
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_search_alt,
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_search_timeout,
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches
(ParamFloat<px4::params::PLD_BTOUT>) _param_pld_btout,
(ParamFloat<px4::params::PLD_HACC_RAD>) _param_pld_hacc_rad,
(ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_pld_fappr_alt,
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_pld_srch_alt,
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_pld_srch_tout,
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_pld_max_srch
)
// non-navigator parameters
src/modules/navigator/rcloss.cpp
+2 -2
View File
@@ -104,7 +104,7 @@ RCLoss::set_rcl_item()
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
_mission_item.time_inside = _param_nav_gpsf_lt.get() < 0.0f ? 0.0f : _param_nav_gpsf_lt.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -142,7 +142,7 @@ RCLoss::advance_rcl()
{
switch (_rcl_state) {
case RCL_STATE_NONE:
if (_param_loitertime.get() > 0.0f) {
if (_param_nav_gpsf_lt.get() > 0.0f) {
warnx("RC loss, OBC mode, loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, loitering");
_rcl_state = RCL_STATE_LOITER;
src/modules/navigator/rcloss.h
+1 -1
View File
@@ -58,7 +58,7 @@ public:
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_RCL_LT>) _param_loitertime
(ParamFloat<px4::params::NAV_RCL_LT>) _param_nav_gpsf_lt
)
enum RCLState {
src/modules/navigator/rtl.cpp
+7 -7
View File
@@ -74,7 +74,7 @@ RTL::on_activation()
} else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) {
// RTL straight to RETURN state, but mission will takeover for landing.
} else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_return_alt.get())
} else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_rtl_return_alt.get())
|| _rtl_alt_min) {
// If lower than return altitude, climb up first.
@@ -134,15 +134,15 @@ RTL::set_rtl_item()
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
// Compute the return altitude.
float return_alt = math::max(home.alt + _param_return_alt.get(), gpos.alt);
float return_alt = math::max(home.alt + _param_rtl_return_alt.get(), gpos.alt);
// We are close to home, limit climb to min.
if (home_dist < _param_rtl_min_dist.get()) {
return_alt = home.alt + _param_descend_alt.get();
return_alt = home.alt + _param_rtl_descend_alt.get();
}
// Compute the loiter altitude.
const float loiter_altitude = math::min(home.alt + _param_descend_alt.get(), gpos.alt);
const float loiter_altitude = math::min(home.alt + _param_rtl_descend_alt.get(), gpos.alt);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -229,7 +229,7 @@ RTL::set_rtl_item()
}
case RTL_STATE_LOITER: {
const bool autoland = (_param_land_delay.get() > FLT_EPSILON);
const bool autoland = (_param_rtl_land_delay.get() > FLT_EPSILON);
// Don't change altitude.
_mission_item.lat = home.lat;
@@ -239,7 +239,7 @@ RTL::set_rtl_item()
_mission_item.yaw = home.yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = math::max(_param_land_delay.get(), 0.0f);
_mission_item.time_inside = math::max(_param_rtl_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -324,7 +324,7 @@ RTL::advance_rtl()
case RTL_STATE_DESCEND:
// Only go to land if autoland is enabled.
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
} else {
src/modules/navigator/rtl.h
+3 -3
View File
@@ -94,9 +94,9 @@ private:
bool _rtl_alt_min{false};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_return_alt,
(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_descend_alt,
(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_land_delay,
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
(ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
(ParamFloat<px4::params::RTL_LAND_DELAY>) _param_rtl_land_delay,
(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
(ParamInt<px4::params::RTL_TYPE>) _param_rtl_type
)