From 7441efde4745c0dddc08a36a0bbf83307f82948a Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Fri, 14 Feb 2014 01:48:00 +0100 Subject: [PATCH 01/11] Add a lot of MAVLink parameter documentation. --- .../launchdetection/launchdetection_params.c | 48 ++- src/modules/commander/commander_params.c | 32 ++ src/modules/mavlink/mavlink.c | 12 + src/modules/navigator/geofence_params.c | 16 +- src/modules/navigator/navigator_params.c | 63 +++- src/modules/sensors/sensor_params.c | 303 ++++++++++++++++-- src/modules/systemlib/system_params.c | 19 +- 7 files changed, 433 insertions(+), 60 deletions(-) diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c index 63a8981aa8..45d7957f11 100644 --- a/src/lib/launchdetection/launchdetection_params.c +++ b/src/lib/launchdetection/launchdetection_params.c @@ -45,28 +45,46 @@ #include /* - * Launch detection parameters, accessible via MAVLink + * Catapult launch detection parameters, accessible via MAVLink * */ -/* Catapult Launch detection */ - -// @DisplayName Switch to enable launchdetection -// @Description if set to 1 launchdetection is enabled -// @Range 0 or 1 +/** + * Enable launch detection. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_INT32(LAUN_ALL_ON, 0); -// @DisplayName Catapult Accelerometer Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0 +/** + * Catapult accelerometer theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f); -// @DisplayName Catapult Time Threshold -// @Description LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection -// @Range > 0, in seconds +/** + * Catapult time theshold. + * + * LAUN_CAT_A * LAUN_CAT_T serves as threshold to trigger launch detection. + * + * @min 0 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f); -// @DisplayName Throttle setting while detecting the launch -// @Description The throttle is set to this value while the system is waiting for the takeoff -// @Range 0 to 1 +/** + * Throttle setting while detecting launch. + * + * The throttle is set to this value while the system is waiting for the take-off. + * + * @min 0 + * @max 1 + * @group Launch detection + */ PARAM_DEFINE_FLOAT(LAUN_THR_PRE, 0.0f); diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index d3155f7bf5..80ca68f21f 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -48,7 +48,39 @@ PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f); PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f); PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f); + +/** + * Empty cell voltage. + * + * Defines the voltage where a single cell of the battery is considered empty. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f); + +/** + * Full cell voltage. + * + * Defines the voltage where a single cell of the battery is considered full. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_FULL, 3.9f); + +/** + * Number of cells. + * + * Defines the number of cells the attached battery consists of. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_N_CELLS, 3); + +/** + * Battery capacity. + * + * Defines the capacity of the attached battery. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f); diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f7..ade4469c58 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -76,8 +76,20 @@ #include /* define MAVLink specific parameters */ +/** + * MAVLink system ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_SYS_ID, 1); +/** + * MAVLink component ID + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_COMP_ID, 50); +/** + * MAVLink type + * @group MAVLink + */ PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING); __EXPORT int mavlink_main(int argc, char *argv[]); diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c index 20dd1fe2f0..5831a0ca94 100644 --- a/src/modules/navigator/geofence_params.c +++ b/src/modules/navigator/geofence_params.c @@ -45,11 +45,17 @@ #include /* - * geofence parameters, accessible via MAVLink - * + * Geofence parameters, accessible via MAVLink */ -// @DisplayName Switch to enable geofence -// @Description if set to 1 geofence is enabled, defaults to 1 because geofence is only enabled when the geofence.txt file is present -// @Range 0 or 1 +/** + * Enable geofence. + * + * Set to 1 to enable geofence. + * Defaults to 1 because geofence is only enabled when the geofence.txt file is present. + * + * @min 0 + * @max 1 + * @group Geofence + */ PARAM_DEFINE_INT32(GF_ON, 1); diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c index 9e05bbffa8..ec7a4e2296 100644 --- a/src/modules/navigator/navigator_params.c +++ b/src/modules/navigator/navigator_params.c @@ -50,15 +50,72 @@ /* * Navigator parameters, accessible via MAVLink - * */ +/** + * Minimum altitude + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_MIN_ALT, 50.0f); + +/** + * Waypoint acceptance radius. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_ACCEPT_RAD, 10.0f); + +/** + * Loiter radius. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f); + +/** + * @group Navigation + */ PARAM_DEFINE_INT32(NAV_ONB_MIS_EN, 0); + +/** + * Default take-off altitude. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_TAKEOFF_ALT, 10.0f); // default TAKEOFF altitude + +/** + * Landing altitude. + * + * Slowly descend from this altitude when landing. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_LAND_ALT, 5.0f); // slow descend from this altitude when landing + +/** + * Return-to-land altitude. + * + * Minimum altitude for going home in RTL mode. + * + * @group Navigation + */ PARAM_DEFINE_FLOAT(NAV_RTL_ALT, 30.0f); // min altitude for going home in RTL mode -PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); // delay after descend before landing, if set to -1 the system will not land but loiter at NAV_LAND_ALT -PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); // enable parachute deployment + +/** + * Return-to-land delay. + * + * Delay after descend before landing. + * If set to -1 the system will not land but loiter at NAV_LAND_ALT. + * + * @group Navigation + */ +PARAM_DEFINE_FLOAT(NAV_RTL_LAND_T, -1.0f); + +/** + * Enable parachute deployment. + * + * @group Navigation + */ +PARAM_DEFINE_INT32(NAV_PARACHUTE_EN, 0); diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 30659fd3a0..288c6e00a0 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -42,13 +42,10 @@ */ #include - #include /** - * Gyro X offset - * - * This is an X-axis offset for the gyro. Adjust it according to the calibration data. + * Gyro X-axis offset * * @min -10.0 * @max 10.0 @@ -57,7 +54,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); /** - * Gyro Y offset + * Gyro Y-axis offset * * @min -10.0 * @max 10.0 @@ -66,7 +63,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); /** - * Gyro Z offset + * Gyro Z-axis offset * * @min -5.0 * @max 5.0 @@ -75,9 +72,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); /** - * Gyro X scaling - * - * X-axis scaling. + * Gyro X-axis scaling factor * * @min -1.5 * @max 1.5 @@ -86,9 +81,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); /** - * Gyro Y scaling - * - * Y-axis scaling. + * Gyro Y-axis scaling factor * * @min -1.5 * @max 1.5 @@ -97,9 +90,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); /** - * Gyro Z scaling - * - * Z-axis scaling. + * Gyro Z-axis scaling factor * * @min -1.5 * @max 1.5 @@ -107,10 +98,9 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_YSCALE, 1.0f); */ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); + /** - * Magnetometer X offset - * - * This is an X-axis offset for the magnetometer. + * Magnetometer X-axis offset * * @min -500.0 * @max 500.0 @@ -119,9 +109,7 @@ PARAM_DEFINE_FLOAT(SENS_GYRO_ZSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); /** - * Magnetometer Y offset - * - * This is an Y-axis offset for the magnetometer. + * Magnetometer Y-axis offset * * @min -500.0 * @max 500.0 @@ -130,9 +118,7 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); /** - * Magnetometer Z offset - * - * This is an Z-axis offset for the magnetometer. + * Magnetometer Z-axis offset * * @min -500.0 * @max 500.0 @@ -140,24 +126,134 @@ PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); */ PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); +/** + * Magnetometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); + +/** + * Magnetometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); + +/** + * Magnetometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); + +/** + * Accelerometer X-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); + +/** + * Accelerometer Y-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f); + +/** + * Accelerometer Z-axis offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZOFF, 0.0f); +/** + * Accelerometer X-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); + +/** + * Accelerometer Y-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); + +/** + * Accelerometer Z-axis scaling factor + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); + +/** + * Differential pressure sensor offset + * + * @group Sensor Calibration + */ PARAM_DEFINE_FLOAT(SENS_DPRES_OFF, 0.0f); + +/** + * Differential pressure sensor analog enabled + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_DPRES_ANA, 0); + +/** + * Board rotation + * + * This parameter defines the rotation of the FMU board relative to the platform. + * Possible values are: + * 0 = No rotation + * 1 = Yaw 45° + * 2 = Yaw 90° + * 3 = Yaw 135° + * 4 = Yaw 180° + * 5 = Yaw 225° + * 6 = Yaw 270° + * 7 = Yaw 315° + * 8 = Roll 180° + * 9 = Roll 180°, Yaw 45° + * 10 = Roll 180°, Yaw 90° + * 11 = Roll 180°, Yaw 135° + * 12 = Pitch 180° + * 13 = Roll 180°, Yaw 225° + * 14 = Roll 180°, Yaw 270° + * 15 = Roll 180°, Yaw 315° + * 16 = Roll 90° + * 17 = Roll 90°, Yaw 45° + * 18 = Roll 90°, Yaw 90° + * 19 = Roll 90°, Yaw 135° + * 20 = Roll 270° + * 21 = Roll 270°, Yaw 45° + * 22 = Roll 270°, Yaw 90° + * 23 = Roll 270°, Yaw 135° + * 24 = Pitch 90° + * 25 = Pitch 270° + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_BOARD_ROT, 0); + +/** + * External magnetometer rotation + * + * This parameter defines the rotation of the external magnetometer relative + * to the platform (not relative to the FMU). + * See SENS_BOARD_ROT for possible values. + * + * @group Sensor Calibration + */ PARAM_DEFINE_INT32(SENS_EXT_MAG_ROT, 0); + /** * RC Channel 1 Minimum * @@ -367,20 +463,52 @@ PARAM_DEFINE_FLOAT(RC18_DZ, 0.0f); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */ #endif -PARAM_DEFINE_INT32(RC_DSM_BIND, -1); /* -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind */ +/** + * DSM binding trigger. + * + * -1 = Idle, 0 = Start DSM2 bind, 1 = Start DSMX bind + * + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_DSM_BIND, -1); + + +/** + * Scaling factor for battery voltage sensor on PX4IO. + * + * @group Battery Calibration + */ PARAM_DEFINE_INT32(BAT_V_SCALE_IO, 10000); + #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 +/** + * Scaling factor for battery voltage sensor on FMU v2. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f); #else -/* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */ -/* PX4IOAR: 0.00838095238 */ -/* FMU standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 */ -/* FMU with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) */ +/** + * Scaling factor for battery voltage sensor on FMU v1. + * + * FMUv1 standalone: 1/(10 / (47+10)) * (3.3 / 4095) = 0.00459340659 + * FMUv1 with PX4IO: 0.00459340659 + * FMUv1 with PX4IOAR: (3.3f * 52.0f / 5.0f / 4095.0f) = 0.00838095238 + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.00459340659f); #endif + +/** + * Scaling factor for battery current sensor. + * + * @group Battery Calibration + */ PARAM_DEFINE_FLOAT(BAT_C_SCALING, 0.0124); /* scaling for 3DR power brick */ + /** * Roll control channel mapping. * @@ -446,22 +574,127 @@ PARAM_DEFINE_INT32(RC_MAP_YAW, 4); * @group Radio Calibration */ PARAM_DEFINE_INT32(RC_MAP_MODE_SW, 0); + +/** + * Return switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_RETURN_SW, 0); + +/** + * Assist switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_ASSIST_SW, 0); + +/** + * Mission switch channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0); //PARAM_DEFINE_INT32(RC_MAP_OFFB_SW, 0); +/** + * Flaps channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0); -PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */ -PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ -PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */ +/** + * Auxiliary switch 1 channel mapping. + * + * Default function: Camera pitch + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); +/** + * Auxiliary switch 2 channel mapping. + * + * Default function: Camera roll + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */ + +/** + * Auxiliary switch 3 channel mapping. + * + * Default function: Camera azimuth / yaw + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); + + +/** + * Roll scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f); + +/** + * Pitch scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f); + +/** + * Yaw scaling factor + * + * @group Radio Calibration + */ PARAM_DEFINE_FLOAT(RC_SCALE_YAW, 2.0f); -PARAM_DEFINE_INT32(RC_FS_CH, 0); /**< RC failsafe channel, 0 = disable */ -PARAM_DEFINE_INT32(RC_FS_MODE, 0); /**< RC failsafe mode: 0 = too low means signal loss, 1 = too high means signal loss */ -PARAM_DEFINE_FLOAT(RC_FS_THR, 800); /**< RC failsafe PWM threshold */ + +/** + * Failsafe channel mapping. + * + * @min 0 + * @max 18 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_CH, 0); + +/** + * Failsafe channel mode. + * + * 0 = too low means signal loss, + * 1 = too high means signal loss + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_INT32(RC_FS_MODE, 0); + +/** + * Failsafe channel PWM threshold. + * + * @min 0 + * @max 1 + * @group Radio Calibration + */ +PARAM_DEFINE_FLOAT(RC_FS_THR, 800); diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index 75be090f80..cb35a25413 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -40,8 +40,23 @@ #include #include -// Auto-start script with index #n +/** + * Auto-start script index. + * + * Defines the auto-start script used to bootstrap the system. + * + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOSTART, 0); -// Automatically configure default values +/** + * Automatically configure default values. + * + * Set to 1 to set platform-specific parameters to their default + * values on next system startup. + * + * @min 0 + * @max 1 + * @group System + */ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0); From ed3ffc26d69f25dc087a23761cbf0655afeae8c0 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Fri, 14 Feb 2014 02:21:24 +0100 Subject: [PATCH 02/11] Layout fixes for wiki parameter documentation. - Replace newlines in names and comments with a space. - Right align min/max/default values. --- Tools/px4params/dokuwikiout.py | 46 +++++++++++++++++++--------------- 1 file changed, 26 insertions(+), 20 deletions(-) diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/dokuwikiout.py index c5cf65ea60..e02035423d 100644 --- a/Tools/px4params/dokuwikiout.py +++ b/Tools/px4params/dokuwikiout.py @@ -19,34 +19,40 @@ class DokuWikiOutput(output.Output): for group in groups: result += "==== %s ====\n\n" % group.GetName() result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" - result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" + result += "^ Name ^ Description ^ Min ^ Max ^ Default ^ Comment ^\n" for param in group.GetParams(): code = param.GetFieldValue("code") name = param.GetFieldValue("short_desc") - name = name.replace("\n", "") - result += "| %s | %s " % (code, name) min_val = param.GetFieldValue("min") - if min_val is not None: - result += " | %s " % min_val - else: - result += " | " max_val = param.GetFieldValue("max") - if max_val is not None: - result += " | %s " % max_val - else: - result += " | " def_val = param.GetFieldValue("default") - if def_val is not None: - result += "| %s " % def_val - else: - result += " | " long_desc = param.GetFieldValue("long_desc") - if long_desc is not None: - long_desc = long_desc.replace("\n", "") - result += "| %s " % long_desc + + name = name.replace("\n", " ") + result += "| %s | %s |" % (code, name) + + if min_val is not None: + result += " %s |" % min_val else: - result += " | " - result += " |\n" + result += " |" + + if max_val is not None: + result += " %s |" % max_val + else: + result += " |" + + if def_val is not None: + result += " %s |" % def_val + else: + result += " |" + + if long_desc is not None: + long_desc = long_desc.replace("\n", " ") + result += " %s |" % long_desc + else: + result += " |" + + result += "\n" result += "\n" post_text = """ From 9e56652d3eda75a2738bcb9eab3ff99ac2aa455b Mon Sep 17 00:00:00 2001 From: Highlander-UA <315u448@ukrpost.net> Date: Sat, 15 Feb 2014 13:34:49 +0200 Subject: [PATCH 03/11] Added comments for L1 control parameters --- .../fw_pos_control_l1_params.c | 193 +++++++++++++++++- 1 file changed, 186 insertions(+), 7 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 512ca7b8ac..9f15a93866 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -120,57 +120,236 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); +/** + * Controller roll limit + * + * The maximum roll the controller will output. + * + * @unit degrees + * @min 0.0 + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); - -PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); - - +/* + * Throttle limit max + * + * This is the maximum throttle % that can be used by the controller. + * For overpowered aircraft, this should be reduced to a value that + * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. + * +*/ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); +/* + * Throttle limit min + * + * This is the minimum throttle % that can be used by the controller. + * For electric aircraft this will normally be set to zero, but can be set + * to a small non-zero value if a folding prop is fitted to prevent the + * prop from folding and unfolding repeatedly in-flight or to provide + * some aerodynamic drag from a turning prop to improve the descent rate. + * + * For aircraft with internal combustion engine this parameter should be set + * for desired idle rpm. +*/ +PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); + +/* + * Throttle limit value before flare + * + * This throttle value will be set as throttle limit at FW_LND_TLALT, + * before arcraft will flare. +*/ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); + +/* + * Maximum climb rate + * + * This is the best climb rate that the aircraft can achieve with + * the throttle set to THR_MAX and the airspeed set to the + * default value. For electric aircraft make sure this number can be + * achieved towards the end of flight when the battery voltage has reduced. + * The setting of this parameter can be checked by commanding a positive + * altitude change of 100m in loiter, RTL or guided mode. If the throttle + * required to climb is close to THR_MAX and the aircraft is maintaining + * airspeed, then this parameter is set correctly. If the airspeed starts + * to reduce, then the parameter is set to high, and if the throttle + * demand required to climb and maintain speed is noticeably less than + * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or + * FW_THR_MAX reduced. +*/ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); +/* + * Minimum descent rate + * + * This is the sink rate of the aircraft with the throttle + * set to THR_MIN and flown at the same airspeed as used + * to measure FW_T_CLMB_MAX. +*/ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); +/* + * Maximum descent rate + * + * This sets the maximum descent rate that the controller will use. + * If this value is too large, the aircraft can over-speed on descent. + * This should be set to a value that can be achieved without + * exceeding the lower pitch angle limit and without over-speeding + * the aircraft. +*/ +PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); + + +/* + * TECS time constant + * + * This is the time constant of the TECS control algorithm (in seconds). + * Smaller values make it faster to respond, larger values make it slower + * to respond. +*/ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); +/* + * Throttle damping factor + * + * This is the damping gain for the throttle demand loop. + * Increase to add damping to correct for oscillations in speed and height. +*/ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); +/* + * Integrator gain + * + * This is the integrator gain on the control loop. + * Increasing this gain increases the speed at which speed + * and height offsets are trimmed out, but reduces damping and + * increases overshoot. +*/ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); +/* + * Maximum vertical acceleration + * + * This is the maximum vertical acceleration (in metres/second^2) + * either up or down that the controller will use to correct speed + * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) + * allows for reasonably aggressive pitch changes if required to recover + * from under-speed conditions. +*/ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); +*/ + * Complementary filter "omega" parameter for height + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse vertical acceleration and barometric height to obtain + * an estimate of height rate and height. Increasing this frequency weights + * the solution more towards use of the barometer, whilst reducing it weights + * the solution more towards use of the accelerometer data. + +*/ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); +/* + * Complementary filter "omega" parameter for speed + * + * This is the cross-over frequency (in radians/second) of the complementary + * filter used to fuse longitudinal acceleration and airspeed to obtain an + * improved airspeed estimate. Increasing this frequency weights the solution + * more towards use of the arispeed sensor, whilst reducing it weights the + * solution more towards use of the accelerometer data. +*/ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); +/* + * Roll -> Throttle feedforward + * + * Increasing this gain turn increases the amount of throttle that will + * be used to compensate for the additional drag created by turning. + * Ideally this should be set to approximately 10 x the extra sink rate + * in m/s created by a 45 degree bank turn. Increase this gain if + * the aircraft initially loses energy in turns and reduce if the + * aircraft initially gains energy in turns. Efficient high aspect-ratio + * aircraft (eg powered sailplanes) can use a lower value, whereas + * inefficient low aspect-ratio models (eg delta wings) can use a higher value. +*/ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); +/* + * Speed <--> Altitude priority + * + * This parameter adjusts the amount of weighting that the pitch control + * applies to speed vs height errors. Setting it to 0.0 will cause the + * pitch control to control height and ignore speed errors. This will + * normally improve height accuracy but give larger airspeed errors. + * Setting it to 2.0 will cause the pitch control loop to control speed + * and ignore height errors. This will normally reduce airspeed errors, + * but give larger height errors. The default value of 1.0 allows the pitch + * control to simultaneously control height and speed. + * Note to Glider Pilots – set this parameter to 2.0 (The glider will + * adjust its pitch angle to maintain airspeed, ignoring changes in height). +*/ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); +/* + * Pitch damping factor + * + * This is the damping gain for the pitch demand loop. Increase to add + * damping to correct for oscillations in height. The default value of 0.0 + * will work well provided the pitch to servo controller has been tuned + * properly. +*/ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); - -PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); - +/* + * Height rate P factor +*/ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); + +/* + * Speed rate P factor +*/ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); +/* + * Landing slope angle +*/ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); + +/* + * Landing slope length +*/ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); + +/* + * +*/ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); + +/* + * Landing flare altitude (relative) +*/ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); + +/* + * Landing throttle limit altitude (relative) +*/ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); + +/* + * Landing heading hold horizontal distance +*/ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); From 480ba491f35019bfe781b1616bc8db71e71f2740 Mon Sep 17 00:00:00 2001 From: Highlander-UA <315u448@ukrpost.net> Date: Sat, 15 Feb 2014 17:27:38 +0200 Subject: [PATCH 04/11] Missing descriptions added for L1 control parameters --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 9f15a93866..e0b8d8771a 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -247,7 +247,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); -*/ +/* * Complementary filter "omega" parameter for height * * This is the cross-over frequency (in radians/second) of the complementary From 2e4c26c9577d11a3ff0e838ffa2c25c4f4ec1452 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sat, 15 Feb 2014 21:12:15 +0100 Subject: [PATCH 05/11] Rename parser.py to srcparser.py to prevent naming conflicts with built-in Python parser library. --- Tools/px4params/px_process_params.py | 4 ++-- Tools/px4params/{parser.py => srcparser.py} | 0 2 files changed, 2 insertions(+), 2 deletions(-) rename Tools/px4params/{parser.py => srcparser.py} (100%) diff --git a/Tools/px4params/px_process_params.py b/Tools/px4params/px_process_params.py index cdf5aba7c0..4f498026fa 100755 --- a/Tools/px4params/px_process_params.py +++ b/Tools/px4params/px_process_params.py @@ -40,12 +40,12 @@ # import scanner -import parser +import srcparser import xmlout import dokuwikiout # Initialize parser -prs = parser.Parser() +prs = srcparser.Parser() # Scan directories, and parse the files sc = scanner.Scanner() diff --git a/Tools/px4params/parser.py b/Tools/px4params/srcparser.py similarity index 100% rename from Tools/px4params/parser.py rename to Tools/px4params/srcparser.py From 1a7518a4224082cf707585a93eb6d934127e5d9e Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sat, 15 Feb 2014 21:18:26 +0100 Subject: [PATCH 06/11] Fixes for Python 3: Use sorted() with key parameter instead of deprecated (and removed) cmp() function. --- Tools/px4params/srcparser.py | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/Tools/px4params/srcparser.py b/Tools/px4params/srcparser.py index 251be672f2..1b2d301108 100644 --- a/Tools/px4params/srcparser.py +++ b/Tools/px4params/srcparser.py @@ -28,8 +28,7 @@ class ParameterGroup(object): state of the parser. """ return sorted(self.params, - cmp=lambda x, y: cmp(x.GetFieldValue("code"), - y.GetFieldValue("code"))) + key=lambda x: x.GetFieldValue("code")) class Parameter(object): """ @@ -61,9 +60,10 @@ class Parameter(object): """ Return list of existing field codes in convenient order """ - return sorted(self.fields.keys(), - cmp=lambda x, y: cmp(self.priority.get(y, 0), - self.priority.get(x, 0)) or cmp(x, y)) + keys = self.fields.keys() + keys = sorted(keys) + keys = sorted(keys, key=lambda x: self.priority.get(x, 0), reverse=True) + return keys def GetFieldValue(self, code): """ @@ -197,7 +197,7 @@ class Parser(object): if tag == "group": group = tags[tag] elif tag not in self.valid_tags: - sys.stderr.write("Skipping invalid" + sys.stderr.write("Skipping invalid " "documentation tag: '%s'\n" % tag) else: param.SetField(tag, tags[tag]) @@ -214,7 +214,7 @@ class Parser(object): object. Note that returned object is not a copy. Modifications affect state of the parser. """ - return sorted(self.param_groups.values(), - cmp=lambda x, y: cmp(self.priority.get(y.GetName(), 0), - self.priority.get(x.GetName(), 0)) or cmp(x.GetName(), - y.GetName())) + groups = self.param_groups.values() + groups = sorted(groups, key=lambda x: x.GetName()) + groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True) + return groups From d30335cb3f141fe0abf7ea853d5e5b097452a0a3 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sat, 15 Feb 2014 21:24:53 +0100 Subject: [PATCH 07/11] Fixes for Python 3 and refactoring: Merge generic Output class into specialized output classes as some need to write files in binary mode. --- Tools/px4params/.gitignore | 1 + Tools/px4params/output.py | 5 -- ...istings.py => output_dokuwiki_listings.py} | 11 ++-- ...kuwikiout.py => output_dokuwiki_tables.py} | 63 ++++++++++--------- Tools/px4params/{xmlout.py => output_xml.py} | 11 ++-- Tools/px4params/px_process_params.py | 22 ++++--- Tools/px4params/xmlrpc.sh | 2 +- 7 files changed, 65 insertions(+), 50 deletions(-) delete mode 100644 Tools/px4params/output.py rename Tools/px4params/{dokuwikiout_listings.py => output_dokuwiki_listings.py} (84%) rename Tools/px4params/{dokuwikiout.py => output_dokuwiki_tables.py} (62%) rename Tools/px4params/{xmlout.py => output_xml.py} (78%) diff --git a/Tools/px4params/.gitignore b/Tools/px4params/.gitignore index 5d0378b4a2..d78b71a6e8 100644 --- a/Tools/px4params/.gitignore +++ b/Tools/px4params/.gitignore @@ -1,3 +1,4 @@ parameters.wiki parameters.xml +parameters.wikirpc.xml cookies.txt \ No newline at end of file diff --git a/Tools/px4params/output.py b/Tools/px4params/output.py deleted file mode 100644 index c092468713..0000000000 --- a/Tools/px4params/output.py +++ /dev/null @@ -1,5 +0,0 @@ -class Output(object): - def Save(self, groups, fn): - data = self.Generate(groups) - with open(fn, 'w') as f: - f.write(data) diff --git a/Tools/px4params/dokuwikiout_listings.py b/Tools/px4params/output_dokuwiki_listings.py similarity index 84% rename from Tools/px4params/dokuwikiout_listings.py rename to Tools/px4params/output_dokuwiki_listings.py index 33f76b415e..117f4edf43 100644 --- a/Tools/px4params/dokuwikiout_listings.py +++ b/Tools/px4params/output_dokuwiki_listings.py @@ -1,7 +1,6 @@ -import output -class DokuWikiOutput(output.Output): - def Generate(self, groups): +class DokuWikiListingsOutput(): + def __init__(self, groups): result = "" for group in groups: result += "==== %s ====\n\n" % group.GetName() @@ -24,4 +23,8 @@ class DokuWikiOutput(output.Output): if def_val is not None: result += "* Default value: %s\n" % def_val result += "\n" - return result + self.output = result + + def Save(self, filename): + with open(filename, 'w') as f: + f.write(self.output) diff --git a/Tools/px4params/dokuwikiout.py b/Tools/px4params/output_dokuwiki_tables.py similarity index 62% rename from Tools/px4params/dokuwikiout.py rename to Tools/px4params/output_dokuwiki_tables.py index e02035423d..dca3fd92d7 100644 --- a/Tools/px4params/dokuwikiout.py +++ b/Tools/px4params/output_dokuwiki_tables.py @@ -1,21 +1,8 @@ -import output from xml.sax.saxutils import escape -class DokuWikiOutput(output.Output): - def Generate(self, groups): - pre_text = """ - - wiki.putPage - - - - :firmware:parameters - - - - - """ - result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values." +class DokuWikiTablesOutput(): + def __init__(self, groups): + result = "====== Parameter Reference ======\nThis list is auto-generated every few minutes and contains the most recent parameter names and default values.\n\n" for group in groups: result += "==== %s ====\n\n" % group.GetName() result += "|< 100% 20% 20% 10% 10% 10% 30%>|\n" @@ -54,15 +41,35 @@ class DokuWikiOutput(output.Output): result += "\n" result += "\n" - post_text = """ - - - - - sum - Updated parameters automagically from code. - - - - """ - return pre_text + escape(result) + post_text + self.output = result; + + def Save(self, filename): + with open(filename, 'w') as f: + f.write(self.output) + + def SaveRpc(self, filename): + with open(filename, 'w') as f: + f.write(""" + + wiki.putPage + + + + :firmware:parameters + + + + + """) + f.write(escape(self.output)) + f.write(""" + + + + + sum + Updated parameters automagically from code. + + + +""") diff --git a/Tools/px4params/xmlout.py b/Tools/px4params/output_xml.py similarity index 78% rename from Tools/px4params/xmlout.py rename to Tools/px4params/output_xml.py index d56802b158..5576954c09 100644 --- a/Tools/px4params/xmlout.py +++ b/Tools/px4params/output_xml.py @@ -1,8 +1,7 @@ -import output from xml.dom.minidom import getDOMImplementation -class XMLOutput(output.Output): - def Generate(self, groups): +class XMLOutput(): + def __init__(self, groups): impl = getDOMImplementation() xml_document = impl.createDocument(None, "parameters", None) xml_parameters = xml_document.documentElement @@ -19,4 +18,8 @@ class XMLOutput(output.Output): xml_param.appendChild(xml_field) xml_value = xml_document.createTextNode(value) xml_field.appendChild(xml_value) - return xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8") + self.output = xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8") + + def Save(self, filename): + with open(filename, 'wb') as f: + f.write(self.output) diff --git a/Tools/px4params/px_process_params.py b/Tools/px4params/px_process_params.py index 4f498026fa..7799f63484 100755 --- a/Tools/px4params/px_process_params.py +++ b/Tools/px4params/px_process_params.py @@ -41,8 +41,9 @@ import scanner import srcparser -import xmlout -import dokuwikiout +import output_xml +import output_dokuwiki_tables +import output_dokuwiki_listings # Initialize parser prs = srcparser.Parser() @@ -50,12 +51,17 @@ prs = srcparser.Parser() # Scan directories, and parse the files sc = scanner.Scanner() sc.ScanDir("../../src", prs) -output = prs.GetParamGroups() +groups = prs.GetParamGroups() # Output into XML -out = xmlout.XMLOutput() -out.Save(output, "parameters.xml") +out = output_xml.XMLOutput(groups) +out.Save("parameters.xml") -# Output into DokuWiki -out = dokuwikiout.DokuWikiOutput() -out.Save(output, "parameters.wiki") +# Output to DokuWiki listings +#out = output_dokuwiki_listings.DokuWikiListingsOutput(groups) +#out.Save("parameters.wiki") + +# Output to DokuWiki tables +out = output_dokuwiki_tables.DokuWikiTablesOutput(groups) +out.Save("parameters.wiki") +out.SaveRpc("parameters.wikirpc.xml") diff --git a/Tools/px4params/xmlrpc.sh b/Tools/px4params/xmlrpc.sh index 36c52ff714..efd177f46a 100644 --- a/Tools/px4params/xmlrpc.sh +++ b/Tools/px4params/xmlrpc.sh @@ -2,4 +2,4 @@ python px_process_params.py rm cookies.txt curl --cookie cookies.txt --cookie-jar cookies.txt --user-agent Mozilla/4.0 --data "u=$XMLRPCUSER&p=$XMLRPCPASS" https://pixhawk.org/start?do=login -curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wiki "https://pixhawk.org/lib/exe/xmlrpc.php" +curl -k --cookie cookies.txt -H "Content-Type: application/xml" -X POST --data-binary @parameters.wikirpc.xml "https://pixhawk.org/lib/exe/xmlrpc.php" From d811853d4463279556f596c7fb064ba016a83acd Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sat, 15 Feb 2014 21:47:13 +0100 Subject: [PATCH 08/11] Fixed Doxygen comments and added parameter documentation group. --- .../fw_pos_control_l1_params.c | 153 +++++++++++------- 1 file changed, 91 insertions(+), 62 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index e0b8d8771a..416a6fcfce 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -40,12 +40,10 @@ */ #include - #include /* * Controller parameters, accessible via MAVLink - * */ /** @@ -119,7 +117,6 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); */ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); - /** * Controller roll limit * @@ -131,17 +128,18 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); */ PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); -/* +/** * Throttle limit max * * This is the maximum throttle % that can be used by the controller. * For overpowered aircraft, this should be reduced to a value that * provides sufficient thrust to climb at the maximum pitch angle PTCH_MAX. * -*/ + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); -/* +/** * Throttle limit min * * This is the minimum throttle % that can be used by the controller. @@ -152,19 +150,22 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f); * * For aircraft with internal combustion engine this parameter should be set * for desired idle rpm. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); -/* +/** * Throttle limit value before flare * * This throttle value will be set as throttle limit at FW_LND_TLALT, * before arcraft will flare. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); - -/* +/** * Maximum climb rate * * This is the best climb rate that the aircraft can achieve with @@ -179,21 +180,23 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f); * demand required to climb and maintain speed is noticeably less than * FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or * FW_THR_MAX reduced. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f); - -/* +/** * Minimum descent rate * * This is the sink rate of the aircraft with the throttle * set to THR_MIN and flown at the same airspeed as used * to measure FW_T_CLMB_MAX. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); - -/* +/** * Maximum descent rate * * This sets the maximum descent rate that the controller will use. @@ -201,41 +204,45 @@ PARAM_DEFINE_FLOAT(FW_T_SINK_MIN, 2.0f); * This should be set to a value that can be achieved without * exceeding the lower pitch angle limit and without over-speeding * the aircraft. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f); - -/* +/** * TECS time constant * * This is the time constant of the TECS control algorithm (in seconds). * Smaller values make it faster to respond, larger values make it slower * to respond. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_TIME_CONST, 5.0f); - -/* +/** * Throttle damping factor * * This is the damping gain for the throttle demand loop. * Increase to add damping to correct for oscillations in speed and height. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_THR_DAMP, 0.5f); - -/* +/** * Integrator gain * * This is the integrator gain on the control loop. * Increasing this gain increases the speed at which speed * and height offsets are trimmed out, but reduces damping and * increases overshoot. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); - -/* +/** * Maximum vertical acceleration * * This is the maximum vertical acceleration (in metres/second^2) @@ -243,11 +250,12 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) * allows for reasonably aggressive pitch changes if required to recover * from under-speed conditions. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); - -/* +/** * Complementary filter "omega" parameter for height * * This is the cross-over frequency (in radians/second) of the complementary @@ -255,12 +263,12 @@ PARAM_DEFINE_FLOAT(FW_T_VERT_ACC, 7.0f); * an estimate of height rate and height. Increasing this frequency weights * the solution more towards use of the barometer, whilst reducing it weights * the solution more towards use of the accelerometer data. - -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); - -/* +/** * Complementary filter "omega" parameter for speed * * This is the cross-over frequency (in radians/second) of the complementary @@ -268,11 +276,12 @@ PARAM_DEFINE_FLOAT(FW_T_HGT_OMEGA, 3.0f); * improved airspeed estimate. Increasing this frequency weights the solution * more towards use of the arispeed sensor, whilst reducing it weights the * solution more towards use of the accelerometer data. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); - -/* +/** * Roll -> Throttle feedforward * * Increasing this gain turn increases the amount of throttle that will @@ -283,11 +292,12 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_OMEGA, 2.0f); * aircraft initially gains energy in turns. Efficient high aspect-ratio * aircraft (eg powered sailplanes) can use a lower value, whereas * inefficient low aspect-ratio models (eg delta wings) can use a higher value. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); - -/* +/** * Speed <--> Altitude priority * * This parameter adjusts the amount of weighting that the pitch control @@ -300,56 +310,75 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); * control to simultaneously control height and speed. * Note to Glider Pilots – set this parameter to 2.0 (The glider will * adjust its pitch angle to maintain airspeed, ignoring changes in height). -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SPDWEIGHT, 1.0f); - -/* +/** * Pitch damping factor * * This is the damping gain for the pitch demand loop. Increase to add * damping to correct for oscillations in height. The default value of 0.0 * will work well provided the pitch to servo controller has been tuned * properly. -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f); -/* +/** * Height rate P factor -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f); -/* +/** * Speed rate P factor -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f); -/* +/** * Landing slope angle -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); -/* +/** * Landing slope length -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f); -/* +/** * -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); -/* +/** * Landing flare altitude (relative) -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); -/* +/** * Landing throttle limit altitude (relative) -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); -/* +/** * Landing heading hold horizontal distance -*/ + * + * @group L1 Control + */ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); From 387bfad1cacc2f9929e7590130ca93f27c688655 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 15 Feb 2014 22:19:14 +0100 Subject: [PATCH 09/11] Fixed status printing for airspeed sensor --- src/drivers/meas_airspeed/meas_airspeed.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 05ae21c1f8..6fe6c22212 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -50,6 +50,7 @@ * - Interfacing to MEAS Digital Pressure Modules (http://www.meas-spec.com/downloads/Interfacing_to_MEAS_Digital_Pressure_Modules.pdf) */ + #include #include @@ -386,7 +387,7 @@ test() err(1, "immediate read failed"); warnx("single read"); - warnx("diff pressure: %d pa", (double)report.differential_pressure_pa); + warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); /* start the sensor polling at 2Hz */ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) @@ -411,7 +412,7 @@ test() err(1, "periodic read failed"); warnx("periodic read %u", i); - warnx("diff pressure: %d pa", report.differential_pressure_pa); + warnx("diff pressure: %8.4f pa", (double)report.differential_pressure_pa); warnx("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature); } From 1c13225b194583945324d247b83a5236e665d919 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sun, 16 Feb 2014 01:45:10 +0100 Subject: [PATCH 10/11] Fixed illegal character 0x96. --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 416a6fcfce..62a340e905 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -308,7 +308,7 @@ PARAM_DEFINE_FLOAT(FW_T_RLL2THR, 10.0f); * and ignore height errors. This will normally reduce airspeed errors, * but give larger height errors. The default value of 1.0 allows the pitch * control to simultaneously control height and speed. - * Note to Glider Pilots – set this parameter to 2.0 (The glider will + * Note to Glider Pilots - set this parameter to 2.0 (The glider will * adjust its pitch angle to maintain airspeed, ignoring changes in height). * * @group L1 Control From 49cc0bd162b63b188c341aab4be880776d21c388 Mon Sep 17 00:00:00 2001 From: Stefan Rado Date: Sun, 16 Feb 2014 01:47:11 +0100 Subject: [PATCH 11/11] Explicitly treat all files as UTF-8. --- Tools/px4params/output_dokuwiki_listings.py | 3 ++- Tools/px4params/output_dokuwiki_tables.py | 5 +++-- Tools/px4params/output_xml.py | 7 ++++--- Tools/px4params/scanner.py | 3 ++- 4 files changed, 11 insertions(+), 7 deletions(-) diff --git a/Tools/px4params/output_dokuwiki_listings.py b/Tools/px4params/output_dokuwiki_listings.py index 117f4edf43..83c50ae15d 100644 --- a/Tools/px4params/output_dokuwiki_listings.py +++ b/Tools/px4params/output_dokuwiki_listings.py @@ -1,3 +1,4 @@ +import codecs class DokuWikiListingsOutput(): def __init__(self, groups): @@ -26,5 +27,5 @@ class DokuWikiListingsOutput(): self.output = result def Save(self, filename): - with open(filename, 'w') as f: + with codecs.open(filename, 'w', 'utf-8') as f: f.write(self.output) diff --git a/Tools/px4params/output_dokuwiki_tables.py b/Tools/px4params/output_dokuwiki_tables.py index dca3fd92d7..aa04304df7 100644 --- a/Tools/px4params/output_dokuwiki_tables.py +++ b/Tools/px4params/output_dokuwiki_tables.py @@ -1,4 +1,5 @@ from xml.sax.saxutils import escape +import codecs class DokuWikiTablesOutput(): def __init__(self, groups): @@ -44,11 +45,11 @@ class DokuWikiTablesOutput(): self.output = result; def Save(self, filename): - with open(filename, 'w') as f: + with codecs.open(filename, 'w', 'utf-8') as f: f.write(self.output) def SaveRpc(self, filename): - with open(filename, 'w') as f: + with codecs.open(filename, 'w', 'utf-8') as f: f.write(""" wiki.putPage diff --git a/Tools/px4params/output_xml.py b/Tools/px4params/output_xml.py index 5576954c09..e845cd1b10 100644 --- a/Tools/px4params/output_xml.py +++ b/Tools/px4params/output_xml.py @@ -1,4 +1,5 @@ from xml.dom.minidom import getDOMImplementation +import codecs class XMLOutput(): def __init__(self, groups): @@ -18,8 +19,8 @@ class XMLOutput(): xml_param.appendChild(xml_field) xml_value = xml_document.createTextNode(value) xml_field.appendChild(xml_value) - self.output = xml_document.toprettyxml(indent=" ", newl="\n", encoding="utf-8") + self.xml_document = xml_document def Save(self, filename): - with open(filename, 'wb') as f: - f.write(self.output) + with codecs.open(filename, 'w', 'utf-8') as f: + self.xml_document.writexml(f, indent=" ", addindent=" ", newl="\n") diff --git a/Tools/px4params/scanner.py b/Tools/px4params/scanner.py index b5a1af47c3..8779b7bbf6 100644 --- a/Tools/px4params/scanner.py +++ b/Tools/px4params/scanner.py @@ -1,5 +1,6 @@ import os import re +import codecs class Scanner(object): """ @@ -29,6 +30,6 @@ class Scanner(object): Scans provided file and passes its contents to the parser using parser.Parse method. """ - with open(path, 'r') as f: + with codecs.open(path, 'r', 'utf-8') as f: contents = f.read() parser.Parse(contents)