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Rename params, add transitional support

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This commit is contained in:
Lorenz Meier
2016-05-10 09:27:00 +02:00
parent 468b0b25de
commit c31c29097d
2 changed files with 25 additions and 7 deletions
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10
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -442,7 +442,15 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.z_vel_i = param_find("MPC_Z_VEL_I");
_params_handles.z_vel_d = param_find("MPC_Z_VEL_D");
_params_handles.z_vel_max_up = param_find("MPC_Z_VEL_MAX_UP");
_params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX_DOWN");
_params_handles.z_vel_max_down = param_find("MPC_Z_VEL_MAX");
// transitional support: Copy param values from max to down
// param so that max param can be renamed in 1-2 releases
// (currently at 1.3.0)
float p;
param_get(param_find("MPC_Z_VEL_MAX"), &p);
param_set(param_find("MPC_Z_VEL_MAX_DN"), &p);
_params_handles.z_ff = param_find("MPC_Z_FF");
_params_handles.xy_p = param_find("MPC_XY_P");
_params_handles.xy_vel_p = param_find("MPC_XY_VEL_P");

22
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@@ -189,12 +189,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical velocity
* Maximum vertical ascent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.0
* @min 0.5
* @max 8.0
* @decimal 1
* @group Multicopter Position Control
@@ -202,16 +202,26 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);
/**
* Maximum vertical velocity in positive z direction (descending)
* Maximum vertical descent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.0
* @max 8.0
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DOWN, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f);
/**
* Transitional support, do not change / use
*
* @unit m/s
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);
/**
* Vertical velocity feed forward