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multiplatform att controller: Rename params to prevent mixup with MC params

This commit is contained in:
Lorenz Meier 2015-05-13 15:18:50 +02:00
parent 164a254214
commit e400ec586d
3 changed files with 52 additions and 52 deletions
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34
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
View File

@ -75,23 +75,23 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
/* parameters */
_params_handles({
.roll_p = px4::ParameterFloat("MC_ROLL_P", PARAM_MC_ROLL_P_DEFAULT),
.roll_rate_p = px4::ParameterFloat("MC_ROLLRATE_P", PARAM_MC_ROLLRATE_P_DEFAULT),
.roll_rate_i = px4::ParameterFloat("MC_ROLLRATE_I", PARAM_MC_ROLLRATE_I_DEFAULT),
.roll_rate_d = px4::ParameterFloat("MC_ROLLRATE_D", PARAM_MC_ROLLRATE_D_DEFAULT),
.pitch_p = px4::ParameterFloat("MC_PITCH_P", PARAM_MC_PITCH_P_DEFAULT),
.pitch_rate_p = px4::ParameterFloat("MC_PITCHRATE_P", PARAM_MC_PITCHRATE_P_DEFAULT),
.pitch_rate_i = px4::ParameterFloat("MC_PITCHRATE_I", PARAM_MC_PITCHRATE_I_DEFAULT),
.pitch_rate_d = px4::ParameterFloat("MC_PITCHRATE_D", PARAM_MC_PITCHRATE_D_DEFAULT),
.yaw_p = px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT),
.yaw_rate_p = px4::ParameterFloat("MC_YAWRATE_P", PARAM_MC_YAWRATE_P_DEFAULT),
.yaw_rate_i = px4::ParameterFloat("MC_YAWRATE_I", PARAM_MC_YAWRATE_I_DEFAULT),
.yaw_rate_d = px4::ParameterFloat("MC_YAWRATE_D", PARAM_MC_YAWRATE_D_DEFAULT),
.yaw_ff = px4::ParameterFloat("MC_YAW_FF", PARAM_MC_YAW_FF_DEFAULT),
.yaw_rate_max = px4::ParameterFloat("MC_YAWRATE_MAX", PARAM_MC_YAWRATE_MAX_DEFAULT),
.acro_roll_max = px4::ParameterFloat("MC_ACRO_R_MAX", PARAM_MC_ACRO_R_MAX_DEFAULT),
.acro_pitch_max = px4::ParameterFloat("MC_ACRO_P_MAX", PARAM_MC_ACRO_P_MAX_DEFAULT),
.acro_yaw_max = px4::ParameterFloat("MC_ACRO_Y_MAX", PARAM_MC_ACRO_Y_MAX_DEFAULT)
.roll_p = px4::ParameterFloat("MP_ROLL_P", PARAM_MP_ROLL_P_DEFAULT),
.roll_rate_p = px4::ParameterFloat("MP_ROLLRATE_P", PARAM_MP_ROLLRATE_P_DEFAULT),
.roll_rate_i = px4::ParameterFloat("MP_ROLLRATE_I", PARAM_MP_ROLLRATE_I_DEFAULT),
.roll_rate_d = px4::ParameterFloat("MP_ROLLRATE_D", PARAM_MP_ROLLRATE_D_DEFAULT),
.pitch_p = px4::ParameterFloat("MP_PITCH_P", PARAM_MP_PITCH_P_DEFAULT),
.pitch_rate_p = px4::ParameterFloat("MP_PITCHRATE_P", PARAM_MP_PITCHRATE_P_DEFAULT),
.pitch_rate_i = px4::ParameterFloat("MP_PITCHRATE_I", PARAM_MP_PITCHRATE_I_DEFAULT),
.pitch_rate_d = px4::ParameterFloat("MP_PITCHRATE_D", PARAM_MP_PITCHRATE_D_DEFAULT),
.yaw_p = px4::ParameterFloat("MP_YAW_P", PARAM_MP_YAW_P_DEFAULT),
.yaw_rate_p = px4::ParameterFloat("MP_YAWRATE_P", PARAM_MP_YAWRATE_P_DEFAULT),
.yaw_rate_i = px4::ParameterFloat("MP_YAWRATE_I", PARAM_MP_YAWRATE_I_DEFAULT),
.yaw_rate_d = px4::ParameterFloat("MP_YAWRATE_D", PARAM_MP_YAWRATE_D_DEFAULT),
.yaw_ff = px4::ParameterFloat("MP_YAW_FF", PARAM_MP_YAW_FF_DEFAULT),
.yaw_rate_max = px4::ParameterFloat("MP_YAWRATE_MAX", PARAM_MP_YAWRATE_MAX_DEFAULT),
.acro_roll_max = px4::ParameterFloat("MP_ACRO_R_MAX", PARAM_MP_ACRO_R_MAX_DEFAULT),
.acro_pitch_max = px4::ParameterFloat("MP_ACRO_P_MAX", PARAM_MP_ACRO_P_MAX_DEFAULT),
.acro_yaw_max = px4::ParameterFloat("MP_ACRO_Y_MAX", PARAM_MP_ACRO_Y_MAX_DEFAULT)
}),
/* performance counters */

34
src/modules/mc_att_control_multiplatform/mc_att_control_params.c
View File

@ -52,7 +52,7 @@
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
PX4_PARAM_DEFINE_FLOAT(MP_ROLL_P);
/**
* Roll rate P gain
@ -62,7 +62,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLL_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_P);
/**
* Roll rate I gain
@ -72,7 +72,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_I);
/**
* Roll rate D gain
@ -82,7 +82,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
PX4_PARAM_DEFINE_FLOAT(MP_ROLLRATE_D);
/**
* Pitch P gain
@ -93,7 +93,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ROLLRATE_D);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
PX4_PARAM_DEFINE_FLOAT(MP_PITCH_P);
/**
* Pitch rate P gain
@ -103,7 +103,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCH_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_P);
/**
* Pitch rate I gain
@ -113,7 +113,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_I);
/**
* Pitch rate D gain
@ -123,7 +123,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
PX4_PARAM_DEFINE_FLOAT(MP_PITCHRATE_D);
/**
* Yaw P gain
@ -134,7 +134,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_PITCHRATE_D);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
PX4_PARAM_DEFINE_FLOAT(MP_YAW_P);
/**
* Yaw rate P gain
@ -144,7 +144,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_P);
/**
* Yaw rate I gain
@ -154,7 +154,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_P);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_I);
/**
* Yaw rate D gain
@ -164,7 +164,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_I);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_D);
/**
* Yaw feed forward
@ -175,7 +175,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_D);
* @max 1.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
PX4_PARAM_DEFINE_FLOAT(MP_YAW_FF);
/**
* Max yaw rate
@ -187,7 +187,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAW_FF);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
PX4_PARAM_DEFINE_FLOAT(MP_YAWRATE_MAX);
/**
* Max acro roll rate
@ -197,7 +197,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_R_MAX);
/**
* Max acro pitch rate
@ -207,7 +207,7 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_R_MAX);
* @max 360.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_P_MAX);
/**
* Max acro yaw rate
@ -216,4 +216,4 @@ PX4_PARAM_DEFINE_FLOAT(MC_ACRO_P_MAX);
* @min 0.0
* @group Multicopter Attitude Control
*/
PX4_PARAM_DEFINE_FLOAT(MC_ACRO_Y_MAX);
PX4_PARAM_DEFINE_FLOAT(MP_ACRO_Y_MAX);

36
src/modules/mc_att_control_multiplatform/mc_att_control_params.h
View File

@ -33,7 +33,7 @@
****************************************************************************/
/**
* @file mc_att_control_params.h
* @file MP_att_control_params.h
* Parameters for multicopter attitude controller.
*
* @author Tobias Naegeli <naegelit@student.ethz.ch>
@ -43,20 +43,20 @@
*/
#pragma once
#define PARAM_MC_ROLL_P_DEFAULT 6.0f
#define PARAM_MC_ROLLRATE_P_DEFAULT 0.1f
#define PARAM_MC_ROLLRATE_I_DEFAULT 0.0f
#define PARAM_MC_ROLLRATE_D_DEFAULT 0.002f
#define PARAM_MC_PITCH_P_DEFAULT 6.0f
#define PARAM_MC_PITCHRATE_P_DEFAULT 0.1f
#define PARAM_MC_PITCHRATE_I_DEFAULT 0.0f
#define PARAM_MC_PITCHRATE_D_DEFAULT 0.002f
#define PARAM_MC_YAW_P_DEFAULT 2.0f
#define PARAM_MC_YAWRATE_P_DEFAULT 0.3f
#define PARAM_MC_YAWRATE_I_DEFAULT 0.0f
#define PARAM_MC_YAWRATE_D_DEFAULT 0.0f
#define PARAM_MC_YAW_FF_DEFAULT 0.5f
#define PARAM_MC_YAWRATE_MAX_DEFAULT 120.0f
#define PARAM_MC_ACRO_R_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_P_MAX_DEFAULT 35.0f
#define PARAM_MC_ACRO_Y_MAX_DEFAULT 120.0f
#define PARAM_MP_ROLL_P_DEFAULT 6.0f
#define PARAM_MP_ROLLRATE_P_DEFAULT 0.1f
#define PARAM_MP_ROLLRATE_I_DEFAULT 0.0f
#define PARAM_MP_ROLLRATE_D_DEFAULT 0.002f
#define PARAM_MP_PITCH_P_DEFAULT 6.0f
#define PARAM_MP_PITCHRATE_P_DEFAULT 0.1f
#define PARAM_MP_PITCHRATE_I_DEFAULT 0.0f
#define PARAM_MP_PITCHRATE_D_DEFAULT 0.002f
#define PARAM_MP_YAW_P_DEFAULT 2.0f
#define PARAM_MP_YAWRATE_P_DEFAULT 0.3f
#define PARAM_MP_YAWRATE_I_DEFAULT 0.0f
#define PARAM_MP_YAWRATE_D_DEFAULT 0.0f
#define PARAM_MP_YAW_FF_DEFAULT 0.5f
#define PARAM_MP_YAWRATE_MAX_DEFAULT 120.0f
#define PARAM_MP_ACRO_R_MAX_DEFAULT 35.0f
#define PARAM_MP_ACRO_P_MAX_DEFAULT 35.0f
#define PARAM_MP_ACRO_Y_MAX_DEFAULT 120.0f