From b755312a1ec3e1f73827ac2b581a597491601140 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Thu, 11 Dec 2014 17:12:03 +0100 Subject: mc att: use PX4 macros to init and get params --- src/modules/mc_att_control/mc_att_control.cpp | 80 +++++++++++++-------------- src/modules/mc_att_control/mc_att_control.h | 42 +++++++------- 2 files changed, 61 insertions(+), 61 deletions(-) (limited to 'src/modules/mc_att_control') diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index 002812741..d20bf24e1 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -83,26 +83,26 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")) { - _params_handles.roll_p = param_find("MC_ROLL_P"); - _params_handles.roll_rate_p = param_find("MC_ROLLRATE_P"); - _params_handles.roll_rate_i = param_find("MC_ROLLRATE_I"); - _params_handles.roll_rate_d = param_find("MC_ROLLRATE_D"); - _params_handles.pitch_p = param_find("MC_PITCH_P"); - _params_handles.pitch_rate_p = param_find("MC_PITCHRATE_P"); - _params_handles.pitch_rate_i = param_find("MC_PITCHRATE_I"); - _params_handles.pitch_rate_d = param_find("MC_PITCHRATE_D"); - _params_handles.yaw_p = param_find("MC_YAW_P"); - _params_handles.yaw_rate_p = param_find("MC_YAWRATE_P"); - _params_handles.yaw_rate_i = param_find("MC_YAWRATE_I"); - _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); - _params_handles.yaw_ff = param_find("MC_YAW_FF"); - _params_handles.yaw_rate_max = param_find("MC_YAWRATE_MAX"); - _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); - _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); - _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); - _params_handles.acro_roll_max = param_find("MC_ACRO_R_MAX"); - _params_handles.acro_pitch_max = param_find("MC_ACRO_P_MAX"); - _params_handles.acro_yaw_max = param_find("MC_ACRO_Y_MAX"); + _params_handles.roll_p = PX4_PARAM_INIT("MC_ROLL_P"); + _params_handles.roll_rate_p = PX4_PARAM_INIT("MC_ROLLRATE_P"); + _params_handles.roll_rate_i = PX4_PARAM_INIT("MC_ROLLRATE_I"); + _params_handles.roll_rate_d = PX4_PARAM_INIT("MC_ROLLRATE_D"); + _params_handles.pitch_p = PX4_PARAM_INIT("MC_PITCH_P"); + _params_handles.pitch_rate_p = PX4_PARAM_INIT("MC_PITCHRATE_P"); + _params_handles.pitch_rate_i = PX4_PARAM_INIT("MC_PITCHRATE_I"); + _params_handles.pitch_rate_d = PX4_PARAM_INIT("MC_PITCHRATE_D"); + _params_handles.yaw_p = PX4_PARAM_INIT("MC_YAW_P"); + _params_handles.yaw_rate_p = PX4_PARAM_INIT("MC_YAWRATE_P"); + _params_handles.yaw_rate_i = PX4_PARAM_INIT("MC_YAWRATE_I"); + _params_handles.yaw_rate_d = PX4_PARAM_INIT("MC_YAWRATE_D"); + _params_handles.yaw_ff = PX4_PARAM_INIT("MC_YAW_FF"); + _params_handles.yaw_rate_max = PX4_PARAM_INIT("MC_YAWRATE_MAX"); + _params_handles.man_roll_max = PX4_PARAM_INIT("MC_MAN_R_MAX"); + _params_handles.man_pitch_max = PX4_PARAM_INIT("MC_MAN_P_MAX"); + _params_handles.man_yaw_max = PX4_PARAM_INIT("MC_MAN_Y_MAX"); + _params_handles.acro_roll_max = PX4_PARAM_INIT("MC_ACRO_R_MAX"); + _params_handles.acro_pitch_max = PX4_PARAM_INIT("MC_ACRO_P_MAX"); + _params_handles.acro_yaw_max = PX4_PARAM_INIT("MC_ACRO_Y_MAX"); /* fetch initial parameter values */ parameters_update(); @@ -157,53 +157,53 @@ MulticopterAttitudeControl::parameters_update() float v; /* roll gains */ - param_get(_params_handles.roll_p, &v); + PX4_PARAM_GET(_params_handles.roll_p, &v); _params.att_p(0) = v; - param_get(_params_handles.roll_rate_p, &v); + PX4_PARAM_GET(_params_handles.roll_rate_p, &v); _params.rate_p(0) = v; - param_get(_params_handles.roll_rate_i, &v); + PX4_PARAM_GET(_params_handles.roll_rate_i, &v); _params.rate_i(0) = v; - param_get(_params_handles.roll_rate_d, &v); + PX4_PARAM_GET(_params_handles.roll_rate_d, &v); _params.rate_d(0) = v; /* pitch gains */ - param_get(_params_handles.pitch_p, &v); + PX4_PARAM_GET(_params_handles.pitch_p, &v); _params.att_p(1) = v; - param_get(_params_handles.pitch_rate_p, &v); + PX4_PARAM_GET(_params_handles.pitch_rate_p, &v); _params.rate_p(1) = v; - param_get(_params_handles.pitch_rate_i, &v); + PX4_PARAM_GET(_params_handles.pitch_rate_i, &v); _params.rate_i(1) = v; - param_get(_params_handles.pitch_rate_d, &v); + PX4_PARAM_GET(_params_handles.pitch_rate_d, &v); _params.rate_d(1) = v; /* yaw gains */ - param_get(_params_handles.yaw_p, &v); + PX4_PARAM_GET(_params_handles.yaw_p, &v); _params.att_p(2) = v; - param_get(_params_handles.yaw_rate_p, &v); + PX4_PARAM_GET(_params_handles.yaw_rate_p, &v); _params.rate_p(2) = v; - param_get(_params_handles.yaw_rate_i, &v); + PX4_PARAM_GET(_params_handles.yaw_rate_i, &v); _params.rate_i(2) = v; - param_get(_params_handles.yaw_rate_d, &v); + PX4_PARAM_GET(_params_handles.yaw_rate_d, &v); _params.rate_d(2) = v; - param_get(_params_handles.yaw_ff, &_params.yaw_ff); - param_get(_params_handles.yaw_rate_max, &_params.yaw_rate_max); + PX4_PARAM_GET(_params_handles.yaw_ff, &_params.yaw_ff); + PX4_PARAM_GET(_params_handles.yaw_rate_max, &_params.yaw_rate_max); _params.yaw_rate_max = math::radians(_params.yaw_rate_max); /* manual control scale */ - param_get(_params_handles.man_roll_max, &_params.man_roll_max); - param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); - param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); + PX4_PARAM_GET(_params_handles.man_roll_max, &_params.man_roll_max); + PX4_PARAM_GET(_params_handles.man_pitch_max, &_params.man_pitch_max); + PX4_PARAM_GET(_params_handles.man_yaw_max, &_params.man_yaw_max); _params.man_roll_max = math::radians(_params.man_roll_max); _params.man_pitch_max = math::radians(_params.man_pitch_max); _params.man_yaw_max = math::radians(_params.man_yaw_max); /* acro control scale */ - param_get(_params_handles.acro_roll_max, &v); + PX4_PARAM_GET(_params_handles.acro_roll_max, &v); _params.acro_rate_max(0) = math::radians(v); - param_get(_params_handles.acro_pitch_max, &v); + PX4_PARAM_GET(_params_handles.acro_pitch_max, &v); _params.acro_rate_max(1) = math::radians(v); - param_get(_params_handles.acro_yaw_max, &v); + PX4_PARAM_GET(_params_handles.acro_yaw_max, &v); _params.acro_rate_max(2) = math::radians(v); _actuators_0_circuit_breaker_enabled = circuit_breaker_enabled("CBRK_RATE_CTRL", CBRK_RATE_CTRL_KEY); diff --git a/src/modules/mc_att_control/mc_att_control.h b/src/modules/mc_att_control/mc_att_control.h index b2ec3083f..4e1dd0b57 100644 --- a/src/modules/mc_att_control/mc_att_control.h +++ b/src/modules/mc_att_control/mc_att_control.h @@ -110,27 +110,27 @@ private: px4::NodeHandle n; struct { - param_t roll_p; - param_t roll_rate_p; - param_t roll_rate_i; - param_t roll_rate_d; - param_t pitch_p; - param_t pitch_rate_p; - param_t pitch_rate_i; - param_t pitch_rate_d; - param_t yaw_p; - param_t yaw_rate_p; - param_t yaw_rate_i; - param_t yaw_rate_d; - param_t yaw_ff; - param_t yaw_rate_max; - - param_t man_roll_max; - param_t man_pitch_max; - param_t man_yaw_max; - param_t acro_roll_max; - param_t acro_pitch_max; - param_t acro_yaw_max; + px4_param_t roll_p; + px4_param_t roll_rate_p; + px4_param_t roll_rate_i; + px4_param_t roll_rate_d; + px4_param_t pitch_p; + px4_param_t pitch_rate_p; + px4_param_t pitch_rate_i; + px4_param_t pitch_rate_d; + px4_param_t yaw_p; + px4_param_t yaw_rate_p; + px4_param_t yaw_rate_i; + px4_param_t yaw_rate_d; + px4_param_t yaw_ff; + px4_param_t yaw_rate_max; + + px4_param_t man_roll_max; + px4_param_t man_pitch_max; + px4_param_t man_yaw_max; + px4_param_t acro_roll_max; + px4_param_t acro_pitch_max; + px4_param_t acro_yaw_max; } _params_handles; /**< handles for interesting parameters */ perf_counter_t _loop_perf; /**< loop performance counter */ -- cgit v1.2.3