diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 9a80de72cbeaa4f643b9717391be810727ba4b6b..ae8a939aa348d32c8d3b6e861763899bbe704f4f 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1110,7 +1110,7 @@ Commander::set_home_position()
const vehicle_global_position_s &gpos = _global_position_sub.get();
// Ensure that the GPS accuracy is good enough for intializing home
- if ((gpos.eph <= _home_eph_threshold.get()) && (gpos.epv <= _home_epv_threshold.get())) {
+ if ((gpos.eph <= _param_com_home_h_t.get()) && (gpos.epv <= _param_com_home_v_t.get())) {
const vehicle_local_position_s &lpos = _local_position_sub.get();
@@ -1214,7 +1214,7 @@ Commander::run()
/* failsafe response to loss of navigation accuracy */
param_t _param_posctl_nav_loss_act = param_find("COM_POSCTL_NAVL");
- status_flags.avoidance_system_required = _obs_avoid.get();
+ status_flags.avoidance_system_required = _param_com_obs_avoid.get();
/* pthread for slow low prio thread */
pthread_t commander_low_prio_thread;
@@ -1485,7 +1485,7 @@ Commander::run()
}
/* Update OA parameter */
- status_flags.avoidance_system_required = _obs_avoid.get();
+ status_flags.avoidance_system_required = _param_com_obs_avoid.get();
/* handle power button state */
orb_check(power_button_state_sub, &updated);
@@ -1668,9 +1668,9 @@ Commander::run()
// Set all position and velocity test probation durations to takeoff value
// This is a larger value to give the vehicle time to complete a failsafe landing
// if faulty sensors cause loss of navigation shortly after takeoff.
- _gpos_probation_time_us = _failsafe_pos_probation.get() * 1_s;
- _lpos_probation_time_us = _failsafe_pos_probation.get() * 1_s;
- _lvel_probation_time_us = _failsafe_pos_probation.get() * 1_s;
+ _gpos_probation_time_us = _param_com_pos_fs_prob.get() * 1_s;
+ _lpos_probation_time_us = _param_com_pos_fs_prob.get() * 1_s;
+ _lvel_probation_time_us = _param_com_pos_fs_prob.get() * 1_s;
}
}
@@ -1690,14 +1690,14 @@ Commander::run()
if (armed.armed) {
// Check for auto-disarm on landing
- if (_disarm_when_landed_timeout.get() > 0) {
+ if (_param_com_disarm_land.get() > 0) {
if (!have_taken_off_since_arming) {
// pilot has ten seconds time to take off
_auto_disarm_landed.set_hysteresis_time_from(false, 10_s);
} else {
- _auto_disarm_landed.set_hysteresis_time_from(false, _disarm_when_landed_timeout.get() * 1_s);
+ _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
}
_auto_disarm_landed.set_state_and_update(land_detector.landed);
@@ -1950,7 +1950,7 @@ Commander::run()
/* RC input check */
if (!status_flags.rc_input_blocked && sp_man.timestamp != 0 &&
- (hrt_elapsed_time(&sp_man.timestamp) < (_rc_loss_threshold.get() * 1_s))) {
+ (hrt_elapsed_time(&sp_man.timestamp) < (_param_com_rc_loss_t.get() * 1_s))) {
/* handle the case where RC signal was regained */
if (!status_flags.rc_signal_found_once) {
@@ -2367,12 +2367,12 @@ Commander::run()
&armed,
&internal_state,
&mavlink_log_pub,
- (link_loss_actions_t)_datalink_loss_action.get(),
+ (link_loss_actions_t)_param_nav_dll_act.get(),
_mission_result_sub.get().finished,
_mission_result_sub.get().stay_in_failsafe,
status_flags,
land_detector.landed,
- (link_loss_actions_t)_rc_loss_action.get(),
+ (link_loss_actions_t)_param_nav_rcl_act.get(),
offboard_loss_act,
offboard_loss_rc_act,
posctl_nav_loss_act);
@@ -3117,7 +3117,8 @@ Commander::reset_posvel_validity(bool *changed)
check_posvel_validity(local_position.xy_valid, local_position.eph, _eph_threshold_adj, local_position.timestamp,
&_last_lpos_fail_time_us, &_lpos_probation_time_us, &status_flags.condition_local_position_valid, changed);
- check_posvel_validity(local_position.v_xy_valid, local_position.evh, _evh_threshold.get(), local_position.timestamp,
+ check_posvel_validity(local_position.v_xy_valid, local_position.evh, _param_com_vel_fs_evh.get(),
+ local_position.timestamp,
&_last_lvel_fail_time_us, &_lvel_probation_time_us, &status_flags.condition_local_velocity_valid, changed);
}
@@ -3134,7 +3135,7 @@ Commander::check_posvel_validity(const bool data_valid, const float data_accurac
*probation_time_us = POSVEL_PROBATION_MIN;
}
- const bool data_stale = ((hrt_elapsed_time(&data_timestamp_us) > _failsafe_pos_delay.get() * 1_s)
+ const bool data_stale = ((hrt_elapsed_time(&data_timestamp_us) > _param_com_pos_fs_delay.get() * 1_s)
|| (data_timestamp_us == 0));
const float req_accuracy = (was_valid ? required_accuracy * 2.5f : required_accuracy);
@@ -3162,7 +3163,8 @@ Commander::check_posvel_validity(const bool data_valid, const float data_accurac
} else {
// failed again, increase probation time
- const int64_t probation_time_new = *probation_time_us + hrt_elapsed_time(last_fail_time_us) * _failsafe_pos_gain.get();
+ const int64_t probation_time_new = *probation_time_us + hrt_elapsed_time(last_fail_time_us) *
+ _param_com_pos_fs_gain.get();
*probation_time_us = math::constrain(probation_time_new, POSVEL_PROBATION_MIN, POSVEL_PROBATION_MAX);
}
@@ -3868,7 +3870,7 @@ void Commander::data_link_check(bool &status_changed)
_high_latency_datalink_heartbeat = iridium_status.last_heartbeat;
if (status.high_latency_data_link_lost) {
- if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_high_latency_datalink_regain_threshold.get() * 1_s)) {
+ if (hrt_elapsed_time(&_high_latency_datalink_lost) > (_param_com_hldl_reg_t.get() * 1_s)) {
status.high_latency_data_link_lost = false;
status_changed = true;
}
@@ -3940,7 +3942,7 @@ void Commander::data_link_check(bool &status_changed)
// GCS data link loss failsafe
if (!status.data_link_lost) {
if (_datalink_last_heartbeat_gcs != 0
- && hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_datalink_loss_threshold.get() * 1_s)) {
+ && hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_param_com_dl_loss_t.get() * 1_s)) {
status.data_link_lost = true;
status.data_link_lost_counter++;
@@ -3966,7 +3968,7 @@ void Commander::data_link_check(bool &status_changed)
//if avoidance never started
if (_datalink_last_heartbeat_avoidance_system == 0
- && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _oa_boot_timeout.get() * 1_s) {
+ && hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > _param_com_oa_boot_t.get() * 1_s) {
if (!_print_avoidance_msg_once) {
mavlink_log_critical(&mavlink_log_pub, "Avoidance system not available!");
_print_avoidance_msg_once = true;
@@ -4011,7 +4013,7 @@ void Commander::data_link_check(bool &status_changed)
// high latency data link loss failsafe
if (_high_latency_datalink_heartbeat > 0
- && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_high_latency_datalink_loss_threshold.get() * 1_s)) {
+ && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
_high_latency_datalink_lost = hrt_absolute_time();
if (!status.high_latency_data_link_lost) {
@@ -4049,7 +4051,7 @@ void Commander::battery_status_check()
if (armed.armed) {
if (battery.warning > _battery_warning) {
battery_failsafe(&mavlink_log_pub, status, status_flags, &internal_state, battery.warning,
- (low_battery_action_t)_low_bat_action.get());
+ (low_battery_action_t)_param_com_low_bat_act.get());
}
}
@@ -4115,7 +4117,7 @@ void Commander::estimator_check(bool *status_changed)
_eph_threshold_adj = INFINITY;
} else {
- _eph_threshold_adj = _eph_threshold.get();
+ _eph_threshold_adj = _param_com_pos_fs_eph.get();
}
/* Check estimator status for signs of bad yaw induced post takeoff navigation failure
@@ -4182,7 +4184,7 @@ void Commander::estimator_check(bool *status_changed)
// use local position message to determine validity
check_posvel_validity(lpos.xy_valid, lpos.eph, _eph_threshold_adj, lpos.timestamp, &_last_lpos_fail_time_us,
&_lpos_probation_time_us, &status_flags.condition_local_position_valid, status_changed);
- check_posvel_validity(lpos.v_xy_valid, lpos.evh, _evh_threshold.get(), lpos.timestamp, &_last_lvel_fail_time_us,
+ check_posvel_validity(lpos.v_xy_valid, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp, &_last_lvel_fail_time_us,
&_lvel_probation_time_us, &status_flags.condition_local_velocity_valid, status_changed);
}
}
@@ -4194,6 +4196,6 @@ void Commander::estimator_check(bool *status_changed)
set_health_flags_present_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GPS, true, true, status);
}
- check_valid(lpos.timestamp, _failsafe_pos_delay.get() * 1_s, lpos.z_valid,
+ check_valid(lpos.timestamp, _param_com_pos_fs_delay.get() * 1_s, lpos.z_valid,
&(status_flags.condition_local_altitude_valid), status_changed);
}
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 1c219624b62d810483ef2247ac4d3fe790e5936c..36700da6dcff879c4191339832705b3c707b129c 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -94,31 +94,31 @@ private:
DEFINE_PARAMETERS(
- (ParamInt<px4::params::NAV_DLL_ACT>) _datalink_loss_action,
- (ParamInt<px4::params::COM_DL_LOSS_T>) _datalink_loss_threshold,
+ (ParamInt<px4::params::NAV_DLL_ACT>) _param_nav_dll_act,
+ (ParamInt<px4::params::COM_DL_LOSS_T>) _param_com_dl_loss_t,
- (ParamInt<px4::params::COM_HLDL_LOSS_T>) _high_latency_datalink_loss_threshold,
- (ParamInt<px4::params::COM_HLDL_REG_T>) _high_latency_datalink_regain_threshold,
+ (ParamInt<px4::params::COM_HLDL_LOSS_T>) _param_com_hldl_loss_t,
+ (ParamInt<px4::params::COM_HLDL_REG_T>) _param_com_hldl_reg_t,
- (ParamInt<px4::params::NAV_RCL_ACT>) _rc_loss_action,
- (ParamFloat<px4::params::COM_RC_LOSS_T>) _rc_loss_threshold,
+ (ParamInt<px4::params::NAV_RCL_ACT>) _param_nav_rcl_act,
+ (ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
- (ParamFloat<px4::params::COM_HOME_H_T>) _home_eph_threshold,
- (ParamFloat<px4::params::COM_HOME_V_T>) _home_epv_threshold,
+ (ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
+ (ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
- (ParamFloat<px4::params::COM_POS_FS_EPH>) _eph_threshold,
- (ParamFloat<px4::params::COM_POS_FS_EPV>) _epv_threshold,
- (ParamFloat<px4::params::COM_VEL_FS_EVH>) _evh_threshold,
+ (ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
+ (ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
+ (ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
- (ParamInt<px4::params::COM_POS_FS_DELAY>) _failsafe_pos_delay,
- (ParamInt<px4::params::COM_POS_FS_PROB>) _failsafe_pos_probation,
- (ParamInt<px4::params::COM_POS_FS_GAIN>) _failsafe_pos_gain,
+ (ParamInt<px4::params::COM_POS_FS_DELAY>) _param_com_pos_fs_delay,
+ (ParamInt<px4::params::COM_POS_FS_PROB>) _param_com_pos_fs_prob,
+ (ParamInt<px4::params::COM_POS_FS_GAIN>) _param_com_pos_fs_gain,
- (ParamInt<px4::params::COM_LOW_BAT_ACT>) _low_bat_action,
- (ParamFloat<px4::params::COM_DISARM_LAND>) _disarm_when_landed_timeout,
+ (ParamInt<px4::params::COM_LOW_BAT_ACT>) _param_com_low_bat_act,
+ (ParamFloat<px4::params::COM_DISARM_LAND>) _param_com_disarm_land,
- (ParamInt<px4::params::COM_OBS_AVOID>) _obs_avoid,
- (ParamInt<px4::params::COM_OA_BOOT_T>) _oa_boot_timeout
+ (ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid,
+ (ParamInt<px4::params::COM_OA_BOOT_T>) _param_com_oa_boot_t
)
diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 5871a97016ed34ea4afd1cf690cbb82d95cba801..46c9353450e43dc344e09f13ea8da4a984ea0fcb 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -69,8 +69,8 @@ FailureDetector::update_attitude_status()
const float roll(euler.phi());
const float pitch(euler.theta());
- const float max_roll_deg = _fail_trig_roll.get();
- const float max_pitch_deg = _fail_trig_pitch.get();
+ const float max_roll_deg = _param_fd_fail_r.get();
+ const float max_pitch_deg = _param_fd_fail_p.get();
const float max_roll(fabsf(math::radians(max_roll_deg)));
const float max_pitch(fabsf(math::radians(max_pitch_deg)));
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index 0baf47abf8422b1c6921dbe8dfc8cd960d8b3e0d..c354effde6f92d0d814ef0f1fc9c9727624666d1 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -74,8 +74,8 @@ public:
private:
DEFINE_PARAMETERS(
- (ParamInt<px4::params::FD_FAIL_P>) _fail_trig_pitch,
- (ParamInt<px4::params::FD_FAIL_R>) _fail_trig_roll
+ (ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
+ (ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r
)
// Subscriptions