Modified to comply with the multiplatform architecture so it can also be run on sitl later. Separated par…

src/modules/vtol_pos_control/module.mk

@@ -38,6 +38,10 @@
 MODULE_COMMAND	= vtol_pos_control
 
 SRCS		= vtol_pos_control_main.cpp \
-			 vtol_pos_control_parameters.c
-EXTRACXXFLAGS = -Wno-write-strings
+			  vtol_pos_control_start_nuttx.cpp \
+			  param_define.c \
+			  vtol_pos_control_params.cpp \
+			  vtol_pos_control.cpp
+EXTRACXXFLAGS = -Wframe-larger-than=3000
+
 

src/modules/vtol_pos_control/vtol_pos_control_parameters.c → src/modules/vtol_pos_control/param_define.c

@@ -32,12 +32,12 @@
  ****************************************************************************/
 
 /**
- * @file vtol_att_control_params.c
  * Parameters for vtol attitude controller.
  *
  * @author Roman Bapst <bapstr@ethz.ch>
  */
-
+#include <px4_defines.h>
+#include <vtol_pos_control/param_define.h>
 #include <systemlib/param/param.h>
 
  /**
@@ -47,7 +47,7 @@
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_POS_XY_P,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_POS_XY_P);
 
  /**
  * Vtol position error gain
@@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(VTP_POS_XY_P,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_POS_Z_P,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_POS_Z_P);
 
  /**
  * Vtol position error gain
@@ -65,7 +65,7 @@ PARAM_DEFINE_FLOAT(VTP_POS_Z_P,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_XY_P,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_XY_P);
 
  /**
  * Vtol position error gain
@@ -74,7 +74,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_XY_P,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_Z_P,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_Z_P);
 
  /**
  * Vtol position error gain
@@ -83,7 +83,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_Z_P,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_XY_D,0.03f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_XY_D);
 
  /**
  * Vtol position error gain
@@ -92,7 +92,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_XY_D,0.03f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_Z_D,0.03f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_Z_D);
 
 /**
  * Vtol position error gain
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_Z_D,0.03f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_XY_I,0.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_XY_I);
 
 /**
  * Vtol position error gain
@@ -110,7 +110,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_XY_I,0.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_Z_I,0.5f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_Z_I);
 
 /**
  * Vtol xy velocity feedforward gain
@@ -119,7 +119,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_Z_I,0.5f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_XY_FF,0.5f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_XY_FF);
 
 /**
  * Vtol xy velocity feedforward gain
@@ -128,7 +128,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_XY_FF,0.5f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VEL_Z_FF,0.5f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VEL_Z_FF);
 
 /**
  * Vtol position error gain
@@ -137,7 +137,7 @@ PARAM_DEFINE_FLOAT(VTP_VEL_Z_FF,0.5f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_VZ_MAX,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_VZ_MAX);
 
 /**
  * Vtol acceleration during transition
@@ -146,7 +146,7 @@ PARAM_DEFINE_FLOAT(VTP_VZ_MAX,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_ACC_TRANS,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_ACC_TRANS);
 
 /**
  * Vtol angle at which ok to switch to fw mode
@@ -155,7 +155,7 @@ PARAM_DEFINE_FLOAT(VTP_ACC_TRANS,1.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_PTCH_TRANSIT,70.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_PTCH_TRANSIT);
 
 /**
  * Vtol airspeed at which ok to switch to fw mode
@@ -164,7 +164,7 @@ PARAM_DEFINE_FLOAT(VTP_PTCH_TRANSIT,70.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_SPD_TRANSIT,12.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_SPD_TRANSIT);
 
 /**
  * Vtol angular acceleration during backtransition
@@ -173,7 +173,7 @@ PARAM_DEFINE_FLOAT(VTP_SPD_TRANSIT,12.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_ACC_ANG,30.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_ACC_ANG);
 
 /**
  * Vtol scale from desired thrust acceleration to thrust signal
@@ -182,7 +182,7 @@ PARAM_DEFINE_FLOAT(VTP_ACC_ANG,30.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_THRUST_SCALE,0.06f);
+PX4_PARAM_DEFINE_FLOAT(VTP_THRUST_SCALE);
 
 /**
  * Vtol scale from desired thrust acceleration to thrust signal
@@ -191,7 +191,7 @@ PARAM_DEFINE_FLOAT(VTP_THRUST_SCALE,0.06f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_MAN_R_MAX,35.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_MAN_R_MAX);
 
 /**
  * Vtol scale from desired thrust acceleration to thrust signal
@@ -200,7 +200,7 @@ PARAM_DEFINE_FLOAT(VTP_MAN_R_MAX,35.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_MAN_P_MAX,35.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_MAN_P_MAX);
 
 /**
  * Vtol scale from desired thrust acceleration to thrust signal
@@ -209,7 +209,7 @@ PARAM_DEFINE_FLOAT(VTP_MAN_P_MAX,35.0f);
  * @min 0.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_MAN_Y_MAX,120.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_MAN_Y_MAX);
 
 /**
  * Pitch trim for fw flight
@@ -219,20 +219,31 @@ PARAM_DEFINE_FLOAT(VTP_MAN_Y_MAX,120.0f);
  * @max 2.0
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_PITCH_TRIM,0.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_PITCH_TRIM);
 
 /**
  * Pitch sensitivity to control stick for fw flight
  *
  *
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_PITCH_SENS,1.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_PITCH_SENS);
 
 /**
  * Target cruise speed in forward flight
  *
  *
  * @group VTOL Position Control
  */
-PARAM_DEFINE_FLOAT(VTP_CRUISE_SPD,10.0f);
+PX4_PARAM_DEFINE_FLOAT(VTP_CRUISE_SPD);
+
+/**
+ * Yaw P gain
+ *
+ * Yaw proportional gain, i.e. desired angular speed in rad/s for error 1 rad.
+ *
+ * @unit 1/s
+ * @min 0.0
+ * @group Multicopter Attitude Control
+ */
+PX4_PARAM_DEFINE_FLOAT(MC_YAW_P);

src/modules/vtol_pos_control/param_define.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vtol_att_control_params.c
+ * Parameters for vtol attitude controller.
+ *
+ * @author Roman Bapst <bapstr@ethz.ch>
+ */
+
+#pragma once
+
+#define PARAM_VTP_POS_XY_P_DEFAULT 1.0f
+#define PARAM_VTP_POS_Z_P_DEFAULT 1.0f
+#define PARAM_VTP_VEL_XY_P_DEFAULT 1.0f
+#define PARAM_VTP_VEL_Z_P_DEFAULT 1.0f
+#define PARAM_VTP_VEL_XY_D_DEFAULT 0.03f
+#define PARAM_VTP_VEL_Z_D_DEFAULT 0.03f
+#define PARAM_VTP_VEL_XY_I_DEFAULT 0.0f
+#define PARAM_VTP_VEL_Z_I_DEFAULT 0.5f
+#define PARAM_VTP_VEL_XY_FF_DEFAULT 0.5f
+#define PARAM_VTP_VEL_Z_FF_DEFAULT 0.5f
+#define PARAM_VTP_VZ_MAX_DEFAULT 1.0f
+#define PARAM_VTP_ACC_TRANS_DEFAULT 1.0f
+#define PARAM_VTP_PTCH_TRANSIT_DEFAULT 70.0f
+#define PARAM_VTP_SPD_TRANSIT_DEFAULT 12.0f
+#define PARAM_VTP_ACC_ANG_DEFAULT 30.0f
+#define PARAM_VTP_THRUST_SCALE_DEFAULT 0.06f
+#define PARAM_VTP_MAN_R_MAX_DEFAULT 35.0f
+#define PARAM_VTP_MAN_P_MAX_DEFAULT 35.0f
+#define PARAM_VTP_MAN_Y_MAX_DEFAULT 120.0f
+#define PARAM_VTP_PITCH_TRIM_DEFAULT 0.0f
+#define PARAM_VTP_PITCH_SENS_DEFAULT 1.0f
+#define PARAM_VTP_CRUISE_SPD_DEFAULT 10.0f
+
+#define PARAM_MC_YAW_P_DEFAULT 1.3f