From 27f2eb8a16fc6915783276298ecf676b8649c1f8 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 8 Feb 2015 17:34:30 +0100 Subject: mc pos ctrl multiplatform use new param api --- .../mc_pos_control.cpp | 108 +++++++++------------ 1 file changed, 47 insertions(+), 61 deletions(-) (limited to 'src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp') 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 b7fce5029..391558dcc 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -52,11 +52,38 @@ MulticopterPositionControl::MulticopterPositionControl() : _control_task(-1), _mavlink_fd(-1), -/* publications */ + /* publications */ _att_sp_pub(nullptr), _local_pos_sp_pub(nullptr), _global_vel_sp_pub(nullptr), + /* outgoing messages */ + _att_sp_msg(), + _local_pos_sp_msg(), + _global_vel_sp_msg(), + + _n(), + + /* 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) + }), _ref_alt(0.0f), _ref_timestamp(0), @@ -84,7 +111,6 @@ MulticopterPositionControl::MulticopterPositionControl() : _global_vel_sp = _n.subscribe(0); - _params.pos_p.zero(); _params.vel_p.zero(); _params.vel_i.zero(); @@ -101,24 +127,6 @@ MulticopterPositionControl::MulticopterPositionControl() : _vel_ff.zero(); _sp_move_rate.zero(); - _params_handles.thr_min = PX4_PARAM_INIT(MPC_THR_MIN); - _params_handles.thr_max = PX4_PARAM_INIT(MPC_THR_MAX); - _params_handles.z_p = PX4_PARAM_INIT(MPC_Z_P); - _params_handles.z_vel_p = PX4_PARAM_INIT(MPC_Z_VEL_P); - _params_handles.z_vel_i = PX4_PARAM_INIT(MPC_Z_VEL_I); - _params_handles.z_vel_d = PX4_PARAM_INIT(MPC_Z_VEL_D); - _params_handles.z_vel_max = PX4_PARAM_INIT(MPC_Z_VEL_MAX); - _params_handles.z_ff = PX4_PARAM_INIT(MPC_Z_FF); - _params_handles.xy_p = PX4_PARAM_INIT(MPC_XY_P); - _params_handles.xy_vel_p = PX4_PARAM_INIT(MPC_XY_VEL_P); - _params_handles.xy_vel_i = PX4_PARAM_INIT(MPC_XY_VEL_I); - _params_handles.xy_vel_d = PX4_PARAM_INIT(MPC_XY_VEL_D); - _params_handles.xy_vel_max = PX4_PARAM_INIT(MPC_XY_VEL_MAX); - _params_handles.xy_ff = PX4_PARAM_INIT(MPC_XY_FF); - _params_handles.tilt_max_air = PX4_PARAM_INIT(MPC_TILTMAX_AIR); - _params_handles.land_speed = PX4_PARAM_INIT(MPC_LAND_SPEED); - _params_handles.tilt_max_land = PX4_PARAM_INIT(MPC_TILTMAX_LND); - /* fetch initial parameter values */ parameters_update(); @@ -132,47 +140,25 @@ MulticopterPositionControl::~MulticopterPositionControl() int MulticopterPositionControl::parameters_update() { - PX4_PARAM_GET(_params_handles.thr_min, &_params.thr_min); - PX4_PARAM_GET(_params_handles.thr_max, &_params.thr_max); - PX4_PARAM_GET(_params_handles.tilt_max_air, &_params.tilt_max_air); - _params.tilt_max_air = math::radians(_params.tilt_max_air); - PX4_PARAM_GET(_params_handles.land_speed, &_params.land_speed); - PX4_PARAM_GET(_params_handles.tilt_max_land, &_params.tilt_max_land); - _params.tilt_max_land = math::radians(_params.tilt_max_land); - - float v; - PX4_PARAM_GET(_params_handles.xy_p, &v); - _params.pos_p(0) = v; - _params.pos_p(1) = v; - PX4_PARAM_GET(_params_handles.z_p, &v); - _params.pos_p(2) = v; - PX4_PARAM_GET(_params_handles.xy_vel_p, &v); - _params.vel_p(0) = v; - _params.vel_p(1) = v; - PX4_PARAM_GET(_params_handles.z_vel_p, &v); - _params.vel_p(2) = v; - PX4_PARAM_GET(_params_handles.xy_vel_i, &v); - _params.vel_i(0) = v; - _params.vel_i(1) = v; - PX4_PARAM_GET(_params_handles.z_vel_i, &v); - _params.vel_i(2) = v; - PX4_PARAM_GET(_params_handles.xy_vel_d, &v); - _params.vel_d(0) = v; - _params.vel_d(1) = v; - PX4_PARAM_GET(_params_handles.z_vel_d, &v); - _params.vel_d(2) = v; - PX4_PARAM_GET(_params_handles.xy_vel_max, &v); - _params.vel_max(0) = v; - _params.vel_max(1) = v; - PX4_PARAM_GET(_params_handles.z_vel_max, &v); - _params.vel_max(2) = v; - PX4_PARAM_GET(_params_handles.xy_ff, &v); - v = math::constrain(v, 0.0f, 1.0f); - _params.vel_ff(0) = v; - _params.vel_ff(1) = v; - PX4_PARAM_GET(_params_handles.z_ff, &v); - v = math::constrain(v, 0.0f, 1.0f); - _params.vel_ff(2) = v; + _params.thr_min = _params_handles.thr_min.update(); + _params.thr_max = _params_handles.thr_max.update(); + _params.tilt_max_air = math::radians(_params_handles.tilt_max_air.update()); + _params.land_speed = _params_handles.land_speed.update(); + _params.tilt_max_land = math::radians(_params_handles.tilt_max_land.update()); + + _params.pos_p(0) = _params.pos_p(1) = _params_handles.xy_p.update(); + _params.pos_p(2) = _params_handles.z_p.update(); + _params.vel_p(0) = _params.vel_p(1) = _params_handles.xy_vel_p.update(); + _params.vel_p(2) = _params_handles.z_vel_p.update(); + _params.vel_i(0) = _params.vel_i(1) = _params_handles.xy_vel_i.update(); + _params.vel_i(2) = _params_handles.z_vel_i.update(); + _params.vel_d(0) = _params.vel_d(1) = _params_handles.xy_vel_d.update(); + _params.vel_d(2) = _params_handles.z_vel_d.update(); + _params.vel_max(0) = _params.vel_max(1) = _params_handles.xy_vel_max.update(); + _params.vel_max(2) = _params_handles.z_vel_max.update(); + + _params.vel_ff(0) = _params.vel_ff(1) = math::constrain(_params_handles.xy_ff.update(), 0.0f, 1.0f); + _params.vel_ff(2) = math::constrain(_params_handles.z_ff.update(), 0.0f, 1.0f); _params.sp_offs_max = _params.vel_max.edivide(_params.pos_p) * 2.0f; 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