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FlightTaskManualAccelerationSlow: MC_ prefix for parameter names
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As discussed in the maintainer call we should adhere to the
parameter naming scheme that makes it clear what vehicle type the
configuration is good for.
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@MaEtUgR
MaEtUgR committed Dec 8, 2023
1 parent d03030e commit ebae9ae
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Showing 3 changed files with 34 additions and 34 deletions.
32 changes: 16 additions & 16 deletions ...les/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,35 +62,35 @@ bool FlightTaskManualAccelerationSlow::update()
if (_velocity_limits_received_before) {
// message received once since mode was started
if (PX4_ISFINITE(_velocity_limits.horizontal_velocity)) {
velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_posslow_min_hvel.get());
velocity_horizontal = fmaxf(_velocity_limits.horizontal_velocity, _param_mc_slow_min_hvel.get());
velocity_horizontal_limited = true;
}

if (PX4_ISFINITE(_velocity_limits.vertical_velocity)) {
velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_posslow_min_vvel.get());
velocity_up = velocity_down = fmaxf(_velocity_limits.vertical_velocity, _param_mc_slow_min_vvel.get());
velocity_vertical_limited = true;
}

if (PX4_ISFINITE(_velocity_limits.yaw_rate)) {
yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_posslow_min_yawr.get()));
yaw_rate = fmaxf(_velocity_limits.yaw_rate, math::radians(_param_mc_slow_min_yawr.get()));
yaw_rate_limited = true;
}
}

// Remote knob commanded limits
if (_param_posslow_map_hvel.get() != 0) {
const float min_horizontal_velocity_scale = _param_posslow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_hvel.get());
if (_param_mc_slow_map_hvel.get() != 0) {
const float min_horizontal_velocity_scale = _param_mc_slow_min_hvel.get() / fmaxf(velocity_horizontal, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_hvel.get());
const float aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_horizontal_velocity_scale, 1.f);
velocity_horizontal *= aux_based_scale;
velocity_horizontal_limited = true;
}

if (_param_posslow_map_vvel.get() != 0) {
const float min_up_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON);
const float min_down_speed_scale = _param_posslow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_vvel.get());
if (_param_mc_slow_map_vvel.get() != 0) {
const float min_up_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_up, FLT_EPSILON);
const float min_down_speed_scale = _param_mc_slow_min_vvel.get() / fmaxf(velocity_down, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_vvel.get());
const float up_aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_up_speed_scale, 1.f);
const float down_aux_based_scale =
Expand All @@ -100,9 +100,9 @@ bool FlightTaskManualAccelerationSlow::update()
velocity_vertical_limited = true;
}

if (_param_posslow_map_yawr.get() != 0) {
const float min_yaw_rate_scale = math::radians(_param_posslow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_posslow_map_yawr.get());
if (_param_mc_slow_map_yawr.get() != 0) {
const float min_yaw_rate_scale = math::radians(_param_mc_slow_min_yawr.get()) / fmaxf(yaw_rate, FLT_EPSILON);
const float aux_input = getInputFromSanitizedAuxParameterIndex(_param_mc_slow_map_yawr.get());
const float aux_based_scale =
math::interpolate(aux_input, -1.f, 1.f, min_yaw_rate_scale, 1.f);
yaw_rate *= aux_based_scale;
Expand All @@ -111,15 +111,15 @@ bool FlightTaskManualAccelerationSlow::update()

// No input from remote and MAVLink -> use default slow mode limits
if (!velocity_horizontal_limited) {
velocity_horizontal = _param_posslow_def_hvel.get();
velocity_horizontal = _param_mc_slow_def_hvel.get();
}

if (!velocity_vertical_limited) {
velocity_up = velocity_down = _param_posslow_def_vvel.get();
velocity_up = velocity_down = _param_mc_slow_def_vvel.get();
}

if (!yaw_rate_limited) {
yaw_rate = math::radians(_param_posslow_def_yawr.get());
yaw_rate = math::radians(_param_mc_slow_def_yawr.get());
}

// Interface to set resulting velocity limits
Expand Down
18 changes: 9 additions & 9 deletions ...les/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,15 +71,15 @@ class FlightTaskManualAccelerationSlow : public FlightTaskManualAcceleration
velocity_limits_s _velocity_limits{};

DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAcceleration,
(ParamInt<px4::params::POSSLOW_MAP_HVEL>) _param_posslow_map_hvel,
(ParamInt<px4::params::POSSLOW_MAP_VVEL>) _param_posslow_map_vvel,
(ParamInt<px4::params::POSSLOW_MAP_YAWR>) _param_posslow_map_yawr,
(ParamFloat<px4::params::POSSLOW_MIN_HVEL>) _param_posslow_min_hvel,
(ParamFloat<px4::params::POSSLOW_MIN_VVEL>) _param_posslow_min_vvel,
(ParamFloat<px4::params::POSSLOW_MIN_YAWR>) _param_posslow_min_yawr,
(ParamFloat<px4::params::POSSLOW_DEF_HVEL>) _param_posslow_def_hvel,
(ParamFloat<px4::params::POSSLOW_DEF_VVEL>) _param_posslow_def_vvel,
(ParamFloat<px4::params::POSSLOW_DEF_YAWR>) _param_posslow_def_yawr,
(ParamInt<px4::params::MC_SLOW_MAP_HVEL>) _param_mc_slow_map_hvel,
(ParamInt<px4::params::MC_SLOW_MAP_VVEL>) _param_mc_slow_map_vvel,
(ParamInt<px4::params::MC_SLOW_MAP_YAWR>) _param_mc_slow_map_yawr,
(ParamFloat<px4::params::MC_SLOW_MIN_HVEL>) _param_mc_slow_min_hvel,
(ParamFloat<px4::params::MC_SLOW_MIN_VVEL>) _param_mc_slow_min_vvel,
(ParamFloat<px4::params::MC_SLOW_MIN_YAWR>) _param_mc_slow_min_yawr,
(ParamFloat<px4::params::MC_SLOW_DEF_HVEL>) _param_mc_slow_def_hvel,
(ParamFloat<px4::params::MC_SLOW_DEF_VVEL>) _param_mc_slow_def_vvel,
(ParamFloat<px4::params::MC_SLOW_DEF_YAWR>) _param_mc_slow_def_yawr,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
Expand Down
18 changes: 9 additions & 9 deletions ...s/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_HVEL, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_HVEL, 0);

/**
* Manual input mapped to scale vertical velocity in position slow mode
Expand All @@ -57,7 +57,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_HVEL, 0);
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_VVEL, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_VVEL, 0);

/**
* Manual input mapped to scale yaw rate in position slow mode
Expand All @@ -71,7 +71,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_VVEL, 0);
* @value 6 AUX6
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_INT32(POSSLOW_MAP_YAWR, 0);
PARAM_DEFINE_INT32(MC_SLOW_MAP_YAWR, 0);

/**
* Horizontal velocity lower limit
Expand All @@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(POSSLOW_MAP_YAWR, 0);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_HVEL, .3f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_HVEL, .3f);

/**
* Vertical velocity lower limit
Expand All @@ -97,7 +97,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_HVEL, .3f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_VVEL, .3f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_VVEL, .3f);

/**
* Yaw rate lower limit
Expand All @@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_VVEL, .3f);
* @decimal 0
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_MIN_YAWR, 3.f);
PARAM_DEFINE_FLOAT(MC_SLOW_MIN_YAWR, 3.f);

/**
* Default horizontal velocity limit
Expand All @@ -125,7 +125,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_MIN_YAWR, 3.f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_HVEL, 3.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_HVEL, 3.f);

/**
* Default vertical velocity limit
Expand All @@ -140,7 +140,7 @@ PARAM_DEFINE_FLOAT(POSSLOW_DEF_HVEL, 3.f);
* @decimal 2
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_VVEL, 1.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_VVEL, 1.f);

/**
* Default yaw rate limit
Expand All @@ -155,4 +155,4 @@ PARAM_DEFINE_FLOAT(POSSLOW_DEF_VVEL, 1.f);
* @decimal 0
* @group Multicopter Position Slow Mode
*/
PARAM_DEFINE_FLOAT(POSSLOW_DEF_YAWR, 45.f);
PARAM_DEFINE_FLOAT(MC_SLOW_DEF_YAWR, 45.f);

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