From 928fdf34a6538e1f8a7d10ac5222890de3fc5043 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 9 Aug 2017 10:31:48 -0400
Subject: [PATCH] sensors move THR_MDL_FAC and MOT_SLEW_MAX to px4fmu

---
 src/drivers/px4fmu/px4fmu_params.c  | 26 ++++++++++++++++++++++++++
 src/modules/sensors/pwm_params.c    | 27 ---------------------------
 src/modules/sensors/sensor_params.c | 27 ---------------------------
 3 files changed, 26 insertions(+), 54 deletions(-)

diff --git a/src/drivers/px4fmu/px4fmu_params.c b/src/drivers/px4fmu/px4fmu_params.c
index 121ef4ed6c..a589753390 100644
--- a/src/drivers/px4fmu/px4fmu_params.c
+++ b/src/drivers/px4fmu/px4fmu_params.c
@@ -169,3 +169,29 @@ PARAM_DEFINE_FLOAT(PWM_AUX_TRIM5, 0);
  */
 PARAM_DEFINE_FLOAT(PWM_AUX_TRIM6, 0);
 
+/**
+ * Thrust to PWM model parameter
+ *
+ * Parameter used to model the relationship between static thrust and motor
+ * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
+ *
+ * @min 0.0
+ * @max 1.0
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
+
+/**
+ * Minimum motor rise time (slew rate limit).
+ *
+ * Minimum time allowed for the motor input signal to pass through
+ * a range of 1000 PWM units. A value x means that the motor signal
+ * can only go from 1000 to 2000 PWM in maximum x seconds.
+ *
+ * Zero means that slew rate limiting is disabled.
+ *
+ * @min 0.0
+ * @unit s/(1000*PWM)
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
diff --git a/src/modules/sensors/pwm_params.c b/src/modules/sensors/pwm_params.c
index 3c2c43d0cf..ef921a98d4 100644
--- a/src/modules/sensors/pwm_params.c
+++ b/src/modules/sensors/pwm_params.c
@@ -349,30 +349,3 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
  * @group PWM Outputs
  */
 PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
-
-/**
- * Thrust to PWM model parameter
- *
- * Parameter used to model the relationship between static thrust and motor
- * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
- *
- * @min 0.0
- * @max 1.0
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
-
-/**
- * Minimum motor rise time (slew rate limit).
- *
- * Minimum time allowed for the motor input signal to pass through
- * a range of 1000 PWM units. A value x means that the motor signal
- * can only go from 1000 to 2000 PWM in maximum x seconds.
- *
- * Zero means that slew rate limiting is disabled.
- *
- * @min 0.0
- * @unit s/(1000*PWM)
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index c35bff157d..bd8fe8bbfc 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -1120,30 +1120,3 @@ PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
  * @group Sensor Enable
  */
 PARAM_DEFINE_INT32(SENS_EN_THERMAL, -1);
-
-/**
- * Thrust to PWM model parameter
- *
- * Parameter used to model the relationship between static thrust and motor
- * input PWM. Model is: thrust = (1-factor)*PWM + factor * PWM^2
- *
- * @min 0.0
- * @max 1.0
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);
-
-/**
- * Minimum motor rise time (slew rate limit).
- *
- * Minimum time allowed for the motor input signal to pass through
- * a range of 1000 PWM units. A value x means that the motor signal
- * can only go from 1000 to 2000 PWM in maximum x seconds.
- *
- * Zero means that slew rate limiting is disabled.
- *
- * @min 0.0
- * @unit s/(1000*PWM)
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);
-- 
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