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Tools: Support injecting param meta, do not generate code for these

This commit is contained in:
Lorenz Meier 2015-11-09 09:31:43 +01:00
parent a6ba6eb2e4
commit 56d67c6f6c
4 changed files with 161 additions and 4 deletions
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146
Tools/parameters_injected.xml Normal file
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@ -0,0 +1,146 @@
<?xml version='1.0' encoding='UTF-8'?>
<parameters>
<version>3</version>
<group name="UAVCAN Motor Parameters" no_code_generation="true">
<parameter default="75" name="ctl_bw" type="INT32">
<short_desc>Speed controller bandwidth</short_desc>
<long_desc>Speed controller bandwidth, in Hz. Higher values result in faster speed and current rise times, but may result in overshoot and higher current consumption. For fixed-wing aircraft, this value should be less than 50 Hz; for multirotors, values up to 100 Hz may provide improvements in responsiveness.</long_desc>
<unit>Hertz</unit>
<min>10</min>
<max>250</max>
</parameter>
<parameter default="1" name="ctl_dir" type="INT32">
<short_desc>Reverse direction</short_desc>
<long_desc>Motor spin direction as detected during initial enumeration. Use 0 or 1 to reverse direction.</long_desc>
<min>0</min>
<max>1</max>
</parameter>
<parameter default="1" name="ctl_gain" type="FLOAT">
<short_desc>Speed (RPM) controller gain</short_desc>
<long_desc>Speed (RPM) controller gain. Determines controller
aggressiveness; units are amp-seconds per radian. Systems with
higher rotational inertia (large props) will need gain increased;
systems with low rotational inertia (small props) may need gain
decreased. Higher values result in faster response, but may result
in oscillation and excessive overshoot. Lower values result in a
slower, smoother response.</long_desc>
<unit>amp-seconds per radian</unit>
<decimal>3</decimal>
<min>0.00</min>
<max>1.00</max>
</parameter>
<parameter default="3.5" name="ctl_hz_idle" type="FLOAT">
<short_desc>Idle speed (e Hz)</short_desc>
<long_desc>Idle speed (e Hz)</long_desc>
<unit>Hertz</unit>
<decimal>3</decimal>
<min>0.0</min>
<max>100.0</max>
</parameter>
<parameter default="25" name="ctl_start_rate" type="INT32">
<short_desc>Spin-up rate (e Hz/s)</short_desc>
<long_desc>Spin-up rate (e Hz/s)</long_desc>
<unit>Hz/s</unit>
<decimal></decimal>
<min>5</min>
<max>1000</max>
</parameter>
<parameter default="0" name="esc_index" type="INT32">
<short_desc>Index of this ESC in throttle command messages.</short_desc>
<long_desc>Index of this ESC in throttle command messages.</long_desc>
<unit>Index</unit>
<decimal></decimal>
<min>0</min>
<max>15</max>
</parameter>
<parameter default="20034" name="id_ext_status" type="INT32">
<short_desc>Extended status ID</short_desc>
<long_desc>Extended status ID</long_desc>
<unit></unit>
<decimal></decimal>
<min>1</min>
<max>1023</max>
</parameter>
<parameter default="50000" name="int_ext_status" type="INT32">
<short_desc>Extended status interval (µs)</short_desc>
<long_desc>Extended status interval (µs)</long_desc>
<unit>µs</unit>
<decimal></decimal>
<min>0</min>
<max>1000000</max>
</parameter>
<parameter default="50000" name="int_status" type="INT32">
<short_desc>ESC status interval (µs)</short_desc>
<long_desc>ESC status interval (µs)</long_desc>
<unit>µs</unit>
<decimal></decimal>
<max>1000000</max>
</parameter>
<parameter default="12" name="mot_i_max" type="FLOAT">
<short_desc>Motor current limit in amps</short_desc>
<long_desc>Motor current limit in amps. This determines the maximum
current controller setpoint, as well as the maximum allowable
current setpoint slew rate. This value should generally be set to
the continuous current rating listed in the motor’s specification
sheet, or set equal to the motor’s specified continuous power
divided by the motor voltage limit.</long_desc>
<unit>Amps</unit>
<decimal>3</decimal>
<min>1</min>
<max>80</max>
</parameter>
<parameter default="2300" name="mot_kv" type="INT32">
<short_desc>Motor Kv in RPM per volt</short_desc>
<long_desc>Motor Kv in RPM per volt. This can be taken from the motor’s
specification sheet; accuracy will help control performance but
some deviation from the specified value is acceptable.</long_desc>
<unit>RPM/v</unit>
<decimal>0</decimal>
<min>0</min>
<max>100</max>
</parameter>
<parameter default="0.0" name="mot_ls" type="FLOAT">
<short_desc>READ ONLY: Motor inductance in henries.</short_desc>
<long_desc>READ ONLY: Motor inductance in henries. This is measured on start-up.</long_desc>
<unit>henries</unit>
<decimal>3</decimal>
</parameter>
<parameter default="14" name="mot_num_poles" type="INT32">
<short_desc>Number of motor poles.</short_desc>
<long_desc>Number of motor poles. Used to convert mechanical speeds to
electrical speeds. This number should be taken from the motor’s
specification sheet.</long_desc>
<unit>Poles</unit>
<decimal></decimal>
<min>2</min>
<max>40</max>
</parameter>
<parameter default="0.0" name="mot_rs" type="FLOAT">
<short_desc>READ ONLY: Motor resistance in ohms</short_desc>
<long_desc>READ ONLY: Motor resistance in ohms. This is measured on start-up. When
tuning a new motor, check that this value is approximately equal
to the value shown in the motor’s specification sheet.</long_desc>
<unit>Ohms</unit>
<decimal>3</decimal>
</parameter>
<parameter default=".5" name="mot_v_accel" type="INT32">
<short_desc>Acceleration limit (V)</short_desc>
<long_desc>Acceleration limit (V)</long_desc>
<unit>Volts</unit>
<decimal>3</decimal>
<min>0.01</min>
<max>1.00</max>
</parameter>
<parameter default="14.8" name="mot_v_max" type="FLOAT">
<short_desc>Motor voltage limit in volts</short_desc>
<long_desc>Motor voltage limit in volts. The current controller’s
commanded voltage will never exceed this value. Note that this may
safely be above the nominal voltage of the motor; to determine the
actual motor voltage limit, divide the motor’s rated power by the
motor current limit.</long_desc>
<unit>Volts</unit>
<decimal>3</decimal>
<min>0</min>
</parameter>
</group>
</parameters>

6
Tools/px4params/xmlout.py
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@ -18,10 +18,14 @@ def indent(elem, level=0):
class XMLOutput():
def __init__(self, groups, board):
def __init__(self, groups, board, inject_xml_file_name):
xml_parameters = ET.Element("parameters")
xml_version = ET.SubElement(xml_parameters, "version")
xml_version.text = "3"
importtree = ET.parse(inject_xml_file_name)
injectgroups = importtree.getroot().findall("group")
for igroup in injectgroups:
xml_parameters.append(igroup)
last_param_name = ""
board_specific_param_set = False
for group in groups:

5
Tools/px_generate_params.py
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@ -29,7 +29,7 @@ start_name = ""
end_name = ""
for group in root:
if group.tag == "group":
if group.tag == "group" and "no_code_generation" not in group.attrib:
header += """
/*****************************************************************
* %s
@ -62,7 +62,8 @@ struct px4_parameters_t px4_parameters = {
"""
i=0
for group in root:
if group.tag == "group":
if group.tag == "group" and "no_code_generation" not in group.attrib:
src += """
/*****************************************************************
* %s

8
Tools/px_process_params.py
View File

@ -65,6 +65,12 @@ def main():
metavar="FILENAME",
help="Create XML file"
" (default FILENAME: parameters.xml)")
parser.add_argument("-i", "--inject-xml",
nargs='?',
const="../Tools/parameters_injected.xml",
metavar="FILENAME",
help="Inject additional param XML file"
" (default FILENAME: ../Tools/parameters_injected.xml)")
parser.add_argument("-b", "--board",
nargs='?',
const="",
@ -124,7 +130,7 @@ def main():
# Output to XML file
if args.xml:
print("Creating XML file " + args.xml)
out = xmlout.XMLOutput(param_groups, args.board)
out = xmlout.XMLOutput(param_groups, args.board, args.inject_xml)
out.Save(args.xml)
# Output to DokuWiki tables