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FW Att/Rate controller: move max attitude params to Att Controller params 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-05-15 11:47:52 +02:00
parent bf25d8b180
commit 1ddacec36b
3 changed files with 28 additions and 30 deletions
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28
src/modules/fw_att_control/fw_att_control_params.c
View File

@ -244,3 +244,31 @@ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f);
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_YR_MAX, 30.f);
/**
* Maximum manual roll angle
*
* Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
/**
* Maximum manual pitch angle
*
* Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 30.0f);

2
src/modules/fw_rate_control/FixedwingRateControl.hpp
View File

@ -166,9 +166,7 @@ private:
(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
(ParamFloat<px4::params::FW_MAN_R_SC>) _param_fw_man_r_sc,
(ParamFloat<px4::params::FW_MAN_Y_SC>) _param_fw_man_y_sc,

28
src/modules/fw_rate_control/fw_rate_control_params.c
View File

@ -484,20 +484,6 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMAX, 0.0f);
*/
PARAM_DEFINE_FLOAT(FW_MAN_R_SC, 1.0f);
/**
* Maximum manual pitch angle
*
* Maximum manual pitch angle setpoint (positive & negative) in manual attitude-only stabilized mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 30.0f);
/**
* Manual pitch scale
*
@ -512,20 +498,6 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 30.0f);
*/
PARAM_DEFINE_FLOAT(FW_MAN_P_SC, 1.0f);
/**
* Maximum manual roll angle
*
* Maximum manual roll angle setpoint (positive & negative) in manual attitude-only stabilized mode
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @increment 0.5
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
/**
* Manual yaw scale
*