multiplatform pos controller: Rename params to prevent mixup with MPC params

3 files changed, 60 insertions, 60 deletions

diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
index d135eecfb..90281d2bc 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -69,26 +69,26 @@ MulticopterPositionControl::MulticopterPositionControl() :
 
 	/* parameters */
 	_params_handles({
-		.thr_min	    = px4::ParameterFloat("MPC_THR_MIN", PARAM_MPC_THR_MIN_DEFAULT),
-		.thr_max	    = px4::ParameterFloat("MPC_THR_MAX", PARAM_MPC_THR_MAX_DEFAULT),
-		.z_p		    = px4::ParameterFloat("MPC_Z_P", PARAM_MPC_Z_P_DEFAULT),
-		.z_vel_p	    = px4::ParameterFloat("MPC_Z_VEL_P", PARAM_MPC_Z_VEL_P_DEFAULT),
-		.z_vel_i	    = px4::ParameterFloat("MPC_Z_VEL_I", PARAM_MPC_Z_VEL_I_DEFAULT),
-		.z_vel_d	    = px4::ParameterFloat("MPC_Z_VEL_D", PARAM_MPC_Z_VEL_D_DEFAULT),
-		.z_vel_max	    = px4::ParameterFloat("MPC_Z_VEL_MAX", PARAM_MPC_Z_VEL_MAX_DEFAULT),
-		.z_ff		    = px4::ParameterFloat("MPC_Z_FF", PARAM_MPC_Z_FF_DEFAULT),
-		.xy_p		    = px4::ParameterFloat("MPC_XY_P", PARAM_MPC_XY_P_DEFAULT),
-		.xy_vel_p	    = px4::ParameterFloat("MPC_XY_VEL_P", PARAM_MPC_XY_VEL_P_DEFAULT),
-		.xy_vel_i	    = px4::ParameterFloat("MPC_XY_VEL_I", PARAM_MPC_XY_VEL_I_DEFAULT),
-		.xy_vel_d	    = px4::ParameterFloat("MPC_XY_VEL_D", PARAM_MPC_XY_VEL_D_DEFAULT),
-		.xy_vel_max	    = px4::ParameterFloat("MPC_XY_VEL_MAX", PARAM_MPC_XY_VEL_MAX_DEFAULT),
-		.xy_ff		    = px4::ParameterFloat("MPC_XY_FF", PARAM_MPC_XY_FF_DEFAULT),
-		.tilt_max_air	    = px4::ParameterFloat("MPC_TILTMAX_AIR", PARAM_MPC_TILTMAX_AIR_DEFAULT),
-		.land_speed	    = px4::ParameterFloat("MPC_LAND_SPEED", PARAM_MPC_LAND_SPEED_DEFAULT),
-		.tilt_max_land	    = px4::ParameterFloat("MPC_TILTMAX_LND", PARAM_MPC_TILTMAX_LND_DEFAULT),
-		.man_roll_max	    = px4::ParameterFloat("MPC_MAN_R_MAX", PARAM_MPC_MAN_R_MAX_DEFAULT),
-		.man_pitch_max	    = px4::ParameterFloat("MPC_MAN_P_MAX", PARAM_MPC_MAN_P_MAX_DEFAULT),
-		.man_yaw_max	    = px4::ParameterFloat("MPC_MAN_Y_MAX", PARAM_MPC_MAN_Y_MAX_DEFAULT),
+		.thr_min	    = px4::ParameterFloat("MPP_THR_MIN", PARAM_MPP_THR_MIN_DEFAULT),
+		.thr_max	    = px4::ParameterFloat("MPP_THR_MAX", PARAM_MPP_THR_MAX_DEFAULT),
+		.z_p		    = px4::ParameterFloat("MPP_Z_P", PARAM_MPP_Z_P_DEFAULT),
+		.z_vel_p	    = px4::ParameterFloat("MPP_Z_VEL_P", PARAM_MPP_Z_VEL_P_DEFAULT),
+		.z_vel_i	    = px4::ParameterFloat("MPP_Z_VEL_I", PARAM_MPP_Z_VEL_I_DEFAULT),
+		.z_vel_d	    = px4::ParameterFloat("MPP_Z_VEL_D", PARAM_MPP_Z_VEL_D_DEFAULT),
+		.z_vel_max	    = px4::ParameterFloat("MPP_Z_VEL_MAX", PARAM_MPP_Z_VEL_MAX_DEFAULT),
+		.z_ff		    = px4::ParameterFloat("MPP_Z_FF", PARAM_MPP_Z_FF_DEFAULT),
+		.xy_p		    = px4::ParameterFloat("MPP_XY_P", PARAM_MPP_XY_P_DEFAULT),
+		.xy_vel_p	    = px4::ParameterFloat("MPP_XY_VEL_P", PARAM_MPP_XY_VEL_P_DEFAULT),
+		.xy_vel_i	    = px4::ParameterFloat("MPP_XY_VEL_I", PARAM_MPP_XY_VEL_I_DEFAULT),
+		.xy_vel_d	    = px4::ParameterFloat("MPP_XY_VEL_D", PARAM_MPP_XY_VEL_D_DEFAULT),
+		.xy_vel_max	    = px4::ParameterFloat("MPP_XY_VEL_MAX", PARAM_MPP_XY_VEL_MAX_DEFAULT),
+		.xy_ff		    = px4::ParameterFloat("MPP_XY_FF", PARAM_MPP_XY_FF_DEFAULT),
+		.tilt_max_air	    = px4::ParameterFloat("MPP_TILTMAX_AIR", PARAM_MPP_TILTMAX_AIR_DEFAULT),
+		.land_speed	    = px4::ParameterFloat("MPP_LAND_SPEED", PARAM_MPP_LAND_SPEED_DEFAULT),
+		.tilt_max_land	    = px4::ParameterFloat("MPP_TILTMAX_LND", PARAM_MPP_TILTMAX_LND_DEFAULT),
+		.man_roll_max	    = px4::ParameterFloat("MPP_MAN_R_MAX", PARAM_MPP_MAN_R_MAX_DEFAULT),
+		.man_pitch_max	    = px4::ParameterFloat("MPP_MAN_P_MAX", PARAM_MPP_MAN_P_MAX_DEFAULT),
+		.man_yaw_max	    = px4::ParameterFloat("MPP_MAN_Y_MAX", PARAM_MPP_MAN_Y_MAX_DEFAULT),
 		.mc_att_yaw_p	    = px4::ParameterFloat("MC_YAW_P", PARAM_MC_YAW_P_DEFAULT)
 	}),
 	_ref_alt(0.0f),
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c
index 709085662..1b3c5b7e9 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.c
@@ -52,7 +52,7 @@
  * @max 1.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_THR_MIN);
+PX4_PARAM_DEFINE_FLOAT(MPP_THR_MIN);
 
 /**
  * Maximum thrust
@@ -63,7 +63,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_THR_MIN);
  * @max 1.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_THR_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_THR_MAX);
 
 /**
  * Proportional gain for vertical position error
@@ -71,7 +71,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_THR_MAX);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_P);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_P);
 
 /**
  * Proportional gain for vertical velocity error
@@ -79,7 +79,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_P);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_P);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_P);
 
 /**
  * Integral gain for vertical velocity error
@@ -89,7 +89,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_P);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_I);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_I);
 
 /**
  * Differential gain for vertical velocity error
@@ -97,7 +97,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_I);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_D);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_D);
 
 /**
  * Maximum vertical velocity
@@ -108,7 +108,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_D);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_VEL_MAX);
 
 /**
  * Vertical velocity feed forward
@@ -119,7 +119,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX);
  * @max 1.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_Z_FF);
+PX4_PARAM_DEFINE_FLOAT(MPP_Z_FF);
 
 /**
  * Proportional gain for horizontal position error
@@ -127,7 +127,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_Z_FF);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_P);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_P);
 
 /**
  * Proportional gain for horizontal velocity error
@@ -135,7 +135,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_P);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_P);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_P);
 
 /**
  * Integral gain for horizontal velocity error
@@ -145,7 +145,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_P);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_I);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_I);
 
 /**
  * Differential gain for horizontal velocity error. Small values help reduce fast oscillations. If value is too big oscillations will appear again.
@@ -153,7 +153,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_I);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_D);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_D);
 
 /**
  * Maximum horizontal velocity
@@ -164,7 +164,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_D);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_VEL_MAX);
 
 /**
  * Horizontal velocity feed forward
@@ -175,7 +175,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX);
  * @max 1.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_XY_FF);
+PX4_PARAM_DEFINE_FLOAT(MPP_XY_FF);
 
 /**
  * Maximum tilt angle in air
@@ -187,7 +187,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_XY_FF);
  * @max 90.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR);
+PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_AIR);
 
 /**
  * Maximum tilt during landing
@@ -199,7 +199,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR);
  * @max 90.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
+PX4_PARAM_DEFINE_FLOAT(MPP_TILTMAX_LND);
 
 /**
  * Landing descend rate
@@ -208,7 +208,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND);
  * @min 0.0
  * @group Multicopter Position Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
+PX4_PARAM_DEFINE_FLOAT(MPP_LAND_SPEED);
 
 /**
  * Max manual roll
@@ -218,7 +218,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_LAND_SPEED);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_MAN_R_MAX);
 
 /**
  * Max manual pitch
@@ -228,7 +228,7 @@ PX4_PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX);
  * @max 90.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_MAN_P_MAX);
 
 /**
  * Max manual yaw rate
@@ -237,5 +237,5 @@ PX4_PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX);
  * @min 0.0
  * @group Multicopter Attitude Control
  */
-PX4_PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX);
+PX4_PARAM_DEFINE_FLOAT(MPP_MAN_Y_MAX);
 
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h
index 8c8b707ae..d9c9fb595 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control_params.h
@@ -41,24 +41,24 @@
 
 #pragma once
 
-#define PARAM_MPC_THR_MIN_DEFAULT 0.1f
-#define PARAM_MPC_THR_MAX_DEFAULT 1.0f
-#define PARAM_MPC_Z_P_DEFAULT 1.0f
-#define PARAM_MPC_Z_VEL_P_DEFAULT 0.1f
-#define PARAM_MPC_Z_VEL_I_DEFAULT 0.02f
-#define PARAM_MPC_Z_VEL_D_DEFAULT 0.0f
-#define PARAM_MPC_Z_VEL_MAX_DEFAULT 5.0f
-#define PARAM_MPC_Z_FF_DEFAULT 0.5f
-#define PARAM_MPC_XY_P_DEFAULT 1.0f
-#define PARAM_MPC_XY_VEL_P_DEFAULT 0.1f
-#define PARAM_MPC_XY_VEL_I_DEFAULT 0.02f
-#define PARAM_MPC_XY_VEL_D_DEFAULT 0.01f
-#define PARAM_MPC_XY_VEL_MAX_DEFAULT 5.0f
-#define PARAM_MPC_XY_FF_DEFAULT 0.5f
-#define PARAM_MPC_TILTMAX_AIR_DEFAULT 45.0f
-#define PARAM_MPC_TILTMAX_LND_DEFAULT 15.0f
-#define PARAM_MPC_LAND_SPEED_DEFAULT 1.0f
-#define PARAM_MPC_MAN_R_MAX_DEFAULT 35.0f
-#define PARAM_MPC_MAN_P_MAX_DEFAULT 35.0f
-#define PARAM_MPC_MAN_Y_MAX_DEFAULT 120.0f
+#define PARAM_MPP_THR_MIN_DEFAULT 0.1f
+#define PARAM_MPP_THR_MAX_DEFAULT 1.0f
+#define PARAM_MPP_Z_P_DEFAULT 1.0f
+#define PARAM_MPP_Z_VEL_P_DEFAULT 0.1f
+#define PARAM_MPP_Z_VEL_I_DEFAULT 0.02f
+#define PARAM_MPP_Z_VEL_D_DEFAULT 0.0f
+#define PARAM_MPP_Z_VEL_MAX_DEFAULT 5.0f
+#define PARAM_MPP_Z_FF_DEFAULT 0.5f
+#define PARAM_MPP_XY_P_DEFAULT 1.0f
+#define PARAM_MPP_XY_VEL_P_DEFAULT 0.1f
+#define PARAM_MPP_XY_VEL_I_DEFAULT 0.02f
+#define PARAM_MPP_XY_VEL_D_DEFAULT 0.01f
+#define PARAM_MPP_XY_VEL_MAX_DEFAULT 5.0f
+#define PARAM_MPP_XY_FF_DEFAULT 0.5f
+#define PARAM_MPP_TILTMAX_AIR_DEFAULT 45.0f
+#define PARAM_MPP_TILTMAX_LND_DEFAULT 15.0f
+#define PARAM_MPP_LAND_SPEED_DEFAULT 1.0f
+#define PARAM_MPP_MAN_R_MAX_DEFAULT 35.0f
+#define PARAM_MPP_MAN_P_MAX_DEFAULT 35.0f
+#define PARAM_MPP_MAN_Y_MAX_DEFAULT 120.0f