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fixed parameter issue for VTOL so that parameter wiki tool can document them

This commit is contained in:
Roman Bapst 2014-12-18 10:46:36 +01:00
parent 0e79cbf234
commit 669e1f96d8
3 changed files with 86 additions and 11 deletions
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2
ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
View File

@ -13,4 +13,4 @@ set PWM_OUT 12
set PWM_MAX 2000
set PWM_RATE 400
param set VTOL_MOT_COUNT 2
param set IDLE_PWM_MC 1080
param set VTOL_IDLE_PWM_MC 1080

2
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -238,7 +238,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params.idle_pwm_mc = PWM_LOWEST_MIN;
_params.vtol_motor_count = 0;
_params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC");
_params_handles.idle_pwm_mc = param_find("VTOL_IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT");
_params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN");
_params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX");

93
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@ -1,13 +1,88 @@
/****************************************************************************
*
* Copyright (c) 2014 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 vtol_att_control_params.c
* Parameters for vtol attitude controller.
*
* @author Roman Bapst <bapstr@ethz.ch>
*/
#include <systemlib/param/param.h>
// number of engines
/**
* VTOL number of engines
*
* @min 1.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0);
// idle pwm in multicopter mode
PARAM_DEFINE_INT32(IDLE_PWM_MC,900);
// min airspeed in multicopter mode
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2);
// max airspeed in multicopter mode
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30);
// trim airspeed in multicopter mode
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10);
/**
* Idle speed of VTOL when in multicopter mode
*
* @min 900
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VTOL_IDLE_PWM_MC,900);
/**
* Minimum airspeed in multicopter mode
*
* This is the minimum speed of the air flowing over the control surfaces.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2.0f);
/**
* Maximum airspeed in multicopter mode
*
* This is the maximum speed of the air flowing over the control surfaces.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30.0f);
/**
* Trim airspeed when in multicopter mode
*
* This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode.
*
* @min 0.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10.0f);