forked from Archive/PX4-Autopilot
mc_rate_control: move acro parameter to separate file
This commit is contained in:
Matthias Grob
Daniel Agar
parent
c1dbe177b8
commit
df3a0de734
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@ -0,0 +1,142 @@
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/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mc_acro_params.c
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*
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* Parameters for Acro mode behavior
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*/
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/**
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* Max acro roll rate
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*
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f);
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/**
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* Max acro pitch rate
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*
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f);
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/**
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* Max acro yaw rate
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*
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* default 1.5 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f);
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/**
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* Acro mode Expo factor for Roll and Pitch.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
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/**
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* Acro mode Expo factor for Yaw.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.69f);
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/**
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* Acro mode SuperExpo factor for Roll and Pitch.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f);
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/**
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* Acro mode SuperExpo factor for Yaw.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.7f);
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@ -33,10 +33,8 @@
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/**
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* @file mc_rate_control_params.c
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* Parameters for multicopter attitude controller.
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*
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Anton Babushkin <anton@px4.io>
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* Parameters for multicopter rate controller
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*/
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/**
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@ -281,110 +279,6 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f);
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*/
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PARAM_DEFINE_FLOAT(MC_YAWRATE_K, 1.0f);
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/**
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* Max acro roll rate
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*
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX, 720.0f);
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/**
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* Max acro pitch rate
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*
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* default: 2 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX, 720.0f);
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/**
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* Max acro yaw rate
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*
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* default 1.5 turns per second
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*
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* @unit deg/s
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* @min 0.0
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* @max 1800.0
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* @decimal 1
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* @increment 5
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX, 540.0f);
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/**
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* Acro mode Expo factor for Roll and Pitch.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO, 0.69f);
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/**
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* Acro mode Expo factor for Yaw.
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*
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* Exponential factor for tuning the input curve shape.
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*
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* 0 Purely linear input curve
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* 1 Purely cubic input curve
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*
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* @min 0
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* @max 1
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_EXPO_Y, 0.69f);
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/**
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* Acro mode SuperExpo factor for Roll and Pitch.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPO, 0.7f);
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/**
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* Acro mode SuperExpo factor for Yaw.
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*
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* SuperExpo factor for refining the input curve shape tuned using MC_ACRO_EXPO_Y.
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*
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* 0 Pure Expo function
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* 0.7 reasonable shape enhancement for intuitive stick feel
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* 0.95 very strong bent input curve only near maxima have effect
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*
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* @min 0
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* @max 0.95
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* @decimal 2
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* @group Multicopter Rate Control
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*/
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PARAM_DEFINE_FLOAT(MC_ACRO_SUPEXPOY, 0.7f);
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/**
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* Battery power level scaler
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*
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