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FMU relocate MOT_SLEW_MAX and THR_MDL_FAC parameters centrally

This commit is contained in:
Daniel Agar 2018-07-16 10:58:45 -04:00
parent 805dfc4312
commit 33e86d25b9
2 changed files with 67 additions and 27 deletions
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27
src/drivers/px4fmu/px4fmu_params.c
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@ -31,33 +31,6 @@
*
****************************************************************************/
/**
* Thrust to PWM model parameter
*
* Parameter used to model the relationship between static thrust and motor
* input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
*
* @min 0.0
* @max 1.0
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
/**
* Minimum motor rise time (slew rate limit).
*
* Minimum time allowed for the motor input signal to pass through
* a range of 1000 PWM units. A value x means that the motor signal
* can only go from 1000 to 2000 PWM in maximum x seconds.
*
* Zero means that slew rate limiting is disabled.
*
* @min 0.0
* @unit s/(1000*PWM)
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
/**
* Motor Ordering
*

67
src/modules/sensors/motor_params.c Normal file
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@ -0,0 +1,67 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file motor_params.c
*
* Parameters for motors.
*
*/
/**
* Minimum motor rise time (slew rate limit).
*
* Minimum time allowed for the motor input signal to pass through
* a range of 1000 PWM units. A value x means that the motor signal
* can only go from 1000 to 2000 PWM in maximum x seconds.
*
* Zero means that slew rate limiting is disabled.
*
* @min 0.0
* @unit s/(1000*PWM)
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
/**
* Thrust to PWM model parameter
*
* Parameter used to model the relationship between static thrust and motor
* input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
*
* @min 0.0
* @max 1.0
* @group PWM Outputs
*/
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);