diff --git a/src/modules/navigator/datalinkloss.cpp b/src/modules/navigator/datalinkloss.cpp
index 46dd0d3da0a82c44375aa6e44344e06e224f67a4..3c92ed41fe6ca9af6b9c27e2fe12fbf30d63994b 100644
--- a/src/modules/navigator/datalinkloss.cpp
+++ b/src/modules/navigator/datalinkloss.cpp
@@ -97,15 +97,15 @@ DataLinkLoss::set_dll_item()
switch (_dll_state) {
case DLL_STATE_FLYTOCOMMSHOLDWP: {
- _mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
- _mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
+ _mission_item.lat = (double)(_param_nav_dll_ch_lat.get()) * 1.0e-7;
+ _mission_item.lon = (double)(_param_nav_dll_ch_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
- _mission_item.altitude = _param_commsholdalt.get();
+ _mission_item.altitude = _param_nav_dll_ch_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
- _mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
+ _mission_item.time_inside = _param_nav_dll_ch_t.get() < 0.0f ? 0.0f : _param_nav_dll_ch_t.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -114,14 +114,14 @@ DataLinkLoss::set_dll_item()
}
case DLL_STATE_FLYTOAIRFIELDHOMEWP: {
- _mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
- _mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
+ _mission_item.lat = (double)(_param_nav_ah_lat.get()) * 1.0e-7;
+ _mission_item.lon = (double)(_param_nav_ah_lon.get()) * 1.0e-7;
_mission_item.altitude_is_relative = false;
- _mission_item.altitude = _param_airfieldhomealt.get();
+ _mission_item.altitude = _param_nav_ah_alt.get();
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
- _mission_item.time_inside = _param_airfieldhomewaittime.get() < 0.0f ? 0.0f : _param_airfieldhomewaittime.get();
+ _mission_item.time_inside = _param_nav_dll_ah_t.get() < 0.0f ? 0.0f : _param_nav_dll_ah_t.get();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -163,9 +163,9 @@ DataLinkLoss::advance_dll()
/* Check the number of data link losses. If above home fly home directly */
/* if number of data link losses limit is not reached fly to comms hold wp */
- if (_navigator->get_vstatus()->data_link_lost_counter > _param_numberdatalinklosses.get()) {
+ if (_navigator->get_vstatus()->data_link_lost_counter > _param_nav_dll_n.get()) {
warnx("%d data link losses, limit is %d, fly to airfield home",
- _navigator->get_vstatus()->data_link_lost_counter, _param_numberdatalinklosses.get());
+ _navigator->get_vstatus()->data_link_lost_counter, _param_nav_dll_n.get());
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "too many DL losses, fly to airfield home");
_navigator->get_mission_result()->stay_in_failsafe = true;
_navigator->set_mission_result_updated();
@@ -173,7 +173,7 @@ DataLinkLoss::advance_dll()
_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
} else {
- if (!_param_skipcommshold.get()) {
+ if (!_param_nav_dll_chsk.get()) {
warnx("fly to comms hold, datalink loss counter: %d", _navigator->get_vstatus()->data_link_lost_counter);
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "fly to comms hold");
_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
diff --git a/src/modules/navigator/datalinkloss.h b/src/modules/navigator/datalinkloss.h
index 292be27f867a3bb30ac2743ca620c460e9e40005..dc4d06dabca5a3bed6dc954ee824d10445d2291e 100644
--- a/src/modules/navigator/datalinkloss.h
+++ b/src/modules/navigator/datalinkloss.h
@@ -59,16 +59,16 @@ public:
private:
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_DLL_CH_T>) _param_commsholdwaittime,
- (ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_commsholdlat, // * 1e7
- (ParamInt<px4::params::NAV_DLL_CH_LON>) _param_commsholdlon, // * 1e7
- (ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_commsholdalt,
- (ParamInt<px4::params::NAV_AH_LAT>) _param_airfieldhomelat, // * 1e7
- (ParamInt<px4::params::NAV_AH_LON>) _param_airfieldhomelon, // * 1e7
- (ParamFloat<px4::params::NAV_AH_ALT>) _param_airfieldhomealt,
- (ParamFloat<px4::params::NAV_DLL_AH_T>) _param_airfieldhomewaittime,
- (ParamInt<px4::params::NAV_DLL_N>) _param_numberdatalinklosses,
- (ParamInt<px4::params::NAV_DLL_CHSK>) _param_skipcommshold
+ (ParamFloat<px4::params::NAV_DLL_CH_T>) _param_nav_dll_ch_t,
+ (ParamInt<px4::params::NAV_DLL_CH_LAT>) _param_nav_dll_ch_lat, // * 1e7
+ (ParamInt<px4::params::NAV_DLL_CH_LON>) _param_nav_dll_ch_lon, // * 1e7
+ (ParamFloat<px4::params::NAV_DLL_CH_ALT>) _param_nav_dll_ch_alt,
+ (ParamInt<px4::params::NAV_AH_LAT>) _param_nav_ah_lat, // * 1e7
+ (ParamInt<px4::params::NAV_AH_LON>) _param_nav_ah_lon, // * 1e7
+ (ParamFloat<px4::params::NAV_AH_ALT>) _param_nav_ah_alt,
+ (ParamFloat<px4::params::NAV_DLL_AH_T>) _param_nav_dll_ah_t,
+ (ParamInt<px4::params::NAV_DLL_N>) _param_nav_dll_n,
+ (ParamInt<px4::params::NAV_DLL_CHSK>) _param_nav_dll_chsk
)
enum DLLState {
diff --git a/src/modules/navigator/follow_target.cpp b/src/modules/navigator/follow_target.cpp
index 53e68a72fa16958d91bbf2291f6806bd389d419f..de1df7f4f59139998d937d6f40f41f80de74dc68 100644
--- a/src/modules/navigator/follow_target.cpp
+++ b/src/modules/navigator/follow_target.cpp
@@ -79,11 +79,11 @@ void FollowTarget::on_inactive()
void FollowTarget::on_activation()
{
- _follow_offset = _param_tracking_dist.get() < 1.0F ? 1.0F : _param_tracking_dist.get();
+ _follow_offset = _param_nav_ft_dst.get() < 1.0F ? 1.0F : _param_nav_ft_dst.get();
- _responsiveness = math::constrain((float) _param_tracking_resp.get(), .1F, 1.0F);
+ _responsiveness = math::constrain((float) _param_nav_ft_rs.get(), .1F, 1.0F);
- _follow_target_position = _param_tracking_side.get();
+ _follow_target_position = _param_nav_ft_fs.get();
if ((_follow_target_position > FOLLOW_FROM_LEFT) || (_follow_target_position < FOLLOW_FROM_RIGHT)) {
_follow_target_position = FOLLOW_FROM_BEHIND;
@@ -250,7 +250,7 @@ void FollowTarget::on_active()
_follow_target_state = TRACK_VELOCITY;
} else if (target_velocity_valid()) {
- set_follow_target_item(&_mission_item, _param_min_alt.get(), target_motion_with_offset, _yaw_angle);
+ set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target_motion_with_offset, _yaw_angle);
// keep the current velocity updated with the target velocity for when it's needed
_current_vel = _est_target_vel;
@@ -275,7 +275,7 @@ void FollowTarget::on_active()
_last_update_time = current_time;
}
- set_follow_target_item(&_mission_item, _param_min_alt.get(), target_motion_with_offset, _yaw_angle);
+ set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target_motion_with_offset, _yaw_angle);
update_position_sp(true, false, _yaw_rate);
@@ -299,7 +299,7 @@ void FollowTarget::on_active()
target.lon = _navigator->get_global_position()->lon;
target.alt = 0.0F;
- set_follow_target_item(&_mission_item, _param_min_alt.get(), target, _yaw_angle);
+ set_follow_target_item(&_mission_item, _param_nav_min_ft_ht.get(), target, _yaw_angle);
update_position_sp(false, false, _yaw_rate);
diff --git a/src/modules/navigator/follow_target.h b/src/modules/navigator/follow_target.h
index e3d000055192846f1e556ca711970b6201efb656..9119d84e5c9c727feab0f06ee304fc4278dcec37 100644
--- a/src/modules/navigator/follow_target.h
+++ b/src/modules/navigator/follow_target.h
@@ -90,10 +90,10 @@ private:
};
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_MIN_FT_HT>) _param_min_alt,
- (ParamFloat<px4::params::NAV_FT_DST>) _param_tracking_dist,
- (ParamInt<px4::params::NAV_FT_FS>) _param_tracking_side,
- (ParamFloat<px4::params::NAV_FT_RS>) _param_tracking_resp
+ (ParamFloat<px4::params::NAV_MIN_FT_HT>) _param_nav_min_ft_ht,
+ (ParamFloat<px4::params::NAV_FT_DST>) _param_nav_ft_dst,
+ (ParamInt<px4::params::NAV_FT_FS>) _param_nav_ft_fs,
+ (ParamFloat<px4::params::NAV_FT_RS>) _param_nav_ft_rs
)
FollowTargetState _follow_target_state{SET_WAIT_FOR_TARGET_POSITION};
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index a183ac4a55f85fd5b79fe6ded696d75aeeefef78..e07965cedffb0ec14fe56ff3897b629a7fa220cf 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -224,8 +224,8 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
if (isHomeRequired() && _navigator->home_position_valid()) {
- const float max_horizontal_distance = _param_max_hor_distance.get();
- const float max_vertical_distance = _param_max_ver_distance.get();
+ const float max_horizontal_distance = _param_gf_max_hor_dist.get();
+ const float max_vertical_distance = _param_gf_max_ver_dist.get();
const double home_lat = _navigator->get_home_position()->lat;
const double home_lon = _navigator->get_home_position()->lon;
@@ -268,7 +268,7 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
} else {
_outside_counter++;
- if (_outside_counter > _param_counter_threshold.get()) {
+ if (_outside_counter > _param_gf_count.get()) {
return inside_fence;
} else {
@@ -568,8 +568,8 @@ int Geofence::clearDm()
bool Geofence::isHomeRequired()
{
- bool max_horizontal_enabled = (_param_max_hor_distance.get() > FLT_EPSILON);
- bool max_vertical_enabled = (_param_max_ver_distance.get() > FLT_EPSILON);
+ bool max_horizontal_enabled = (_param_gf_max_hor_dist.get() > FLT_EPSILON);
+ bool max_vertical_enabled = (_param_gf_max_ver_dist.get() > FLT_EPSILON);
bool geofence_action_rtl = (getGeofenceAction() == geofence_result_s::GF_ACTION_RTL);
return max_horizontal_enabled || max_vertical_enabled || geofence_action_rtl;
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 9a5412bbaaec0e6dbe4cb6b5dc74ff16276e2f4d..f9ed6f8ac43c989031df3aa0e148e647390a56cc 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -124,9 +124,9 @@ public:
bool isEmpty() { return _num_polygons == 0; }
- int getAltitudeMode() { return _param_altitude_mode.get(); }
- int getSource() { return _param_source.get(); }
- int getGeofenceAction() { return _param_action.get(); }
+ int getAltitudeMode() { return _param_gf_altmode.get(); }
+ int getSource() { return _param_gf_source.get(); }
+ int getGeofenceAction() { return _param_gf_action.get(); }
bool isHomeRequired();
@@ -158,12 +158,12 @@ private:
map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
DEFINE_PARAMETERS(
- (ParamInt<px4::params::GF_ACTION>) _param_action,
- (ParamInt<px4::params::GF_ALTMODE>) _param_altitude_mode,
- (ParamInt<px4::params::GF_SOURCE>) _param_source,
- (ParamInt<px4::params::GF_COUNT>) _param_counter_threshold,
- (ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_max_hor_distance,
- (ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_max_ver_distance
+ (ParamInt<px4::params::GF_ACTION>) _param_gf_action,
+ (ParamInt<px4::params::GF_ALTMODE>) _param_gf_altmode,
+ (ParamInt<px4::params::GF_SOURCE>) _param_gf_source,
+ (ParamInt<px4::params::GF_COUNT>) _param_gf_count,
+ (ParamFloat<px4::params::GF_MAX_HOR_DIST>) _param_gf_max_hor_dist,
+ (ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
)
uORB::Subscription<vehicle_air_data_s> _sub_airdata;
diff --git a/src/modules/navigator/gpsfailure.cpp b/src/modules/navigator/gpsfailure.cpp
index 94bdf97a38363091d8cc0868a91995319e6586bd..c659e3f4b440022af5f8b9463ec8d749adcb8c60 100644
--- a/src/modules/navigator/gpsfailure.cpp
+++ b/src/modules/navigator/gpsfailure.cpp
@@ -85,9 +85,9 @@ GpsFailure::on_active()
* navigator has to publish an attitude setpoint */
vehicle_attitude_setpoint_s att_sp = {};
att_sp.timestamp = hrt_absolute_time();
- att_sp.roll_body = math::radians(_param_openlooploiter_roll.get());
- att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get());
- att_sp.thrust_body[0] = _param_openlooploiter_thrust.get();
+ att_sp.roll_body = math::radians(_param_nav_gpsf_r.get());
+ att_sp.pitch_body = math::radians(_param_nav_gpsf_p.get());
+ att_sp.thrust_body[0] = _param_nav_gpsf_tr.get();
Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
q.copyTo(att_sp.q_d);
@@ -103,8 +103,8 @@ GpsFailure::on_active()
}
/* Measure time */
- if ((_param_loitertime.get() > FLT_EPSILON) &&
- (hrt_elapsed_time(&_timestamp_activation) > _param_loitertime.get() * 1e6f)) {
+ if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&
+ (hrt_elapsed_time(&_timestamp_activation) > _param_nav_gpsf_lt.get() * 1e6f)) {
/* no recovery, advance the state machine */
PX4_WARN("GPS not recovered, switching to next failure state");
advance_gpsf();
diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h
index 1802031cbc7b0648f7a74e0e7b842f8e7acdaece..a683a7a3d34dc91454304cd9a39ca2cc24ba271e 100644
--- a/src/modules/navigator/gpsfailure.h
+++ b/src/modules/navigator/gpsfailure.h
@@ -57,10 +57,10 @@ public:
private:
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_GPSF_LT>) _param_loitertime,
- (ParamFloat<px4::params::NAV_GPSF_R>) _param_openlooploiter_roll,
- (ParamFloat<px4::params::NAV_GPSF_P>) _param_openlooploiter_pitch,
- (ParamFloat<px4::params::NAV_GPSF_TR>) _param_openlooploiter_thrust
+ (ParamFloat<px4::params::NAV_GPSF_LT>) _param_nav_gpsf_lt,
+ (ParamFloat<px4::params::NAV_GPSF_R>) _param_nav_gpsf_r,
+ (ParamFloat<px4::params::NAV_GPSF_P>) _param_nav_gpsf_p,
+ (ParamFloat<px4::params::NAV_GPSF_TR>) _param_nav_gpsf_tr
)
enum GPSFState {
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 8ef26e7831d1607f006a062f7b671021aa473a92..20bb8e8e23c4646d692ed0b20c4ff4f686543397 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -226,7 +226,7 @@ Mission::on_active()
set_mission_items();
}
- } else if (_mission_type != MISSION_TYPE_NONE && _param_altmode.get() == MISSION_ALTMODE_FOH) {
+ } else if (_mission_type != MISSION_TYPE_NONE && _param_mis_altmode.get() == MISSION_ALTMODE_FOH) {
altitude_sp_foh_update();
@@ -243,7 +243,7 @@ Mission::on_active()
}
/* see if we need to update the current yaw heading */
- if (!_param_mnt_yaw_ctl.get() && (_navigator->get_vstatus()->is_rotary_wing)
+ if (!_param_mis_mnt_yaw_ctl.get() && (_navigator->get_vstatus()->is_rotary_wing)
&& (_navigator->get_vroi().mode != vehicle_roi_s::ROI_NONE)
&& !(_mission_item.nav_cmd == NAV_CMD_TAKEOFF
|| _mission_item.nav_cmd == NAV_CMD_VTOL_TAKEOFF
@@ -1612,8 +1612,8 @@ Mission::check_mission_valid(bool force)
_navigator->get_mission_result()->valid =
_missionFeasibilityChecker.checkMissionFeasible(_mission,
- _param_dist_1wp.get(),
- _param_dist_between_wps.get(),
+ _param_mis_dist_1wp.get(),
+ _param_mis_dist_wps.get(),
_navigator->mission_landing_required());
_navigator->get_mission_result()->seq_total = _mission.count;
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index b90c0b50a08e827db6b76981c9c533b38f640929..2414ccaa64907f880cac3ffa74717ce287488d78 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -236,10 +236,10 @@ private:
bool position_setpoint_equal(const position_setpoint_s *p1, const position_setpoint_s *p2) const;
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::MIS_DIST_1WP>) _param_dist_1wp,
- (ParamFloat<px4::params::MIS_DIST_WPS>) _param_dist_between_wps,
- (ParamInt<px4::params::MIS_ALTMODE>) _param_altmode,
- (ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mnt_yaw_ctl
+ (ParamFloat<px4::params::MIS_DIST_1WP>) _param_mis_dist_1wp,
+ (ParamFloat<px4::params::MIS_DIST_WPS>) _param_mis_dist_wps,
+ (ParamInt<px4::params::MIS_ALTMODE>) _param_mis_altmode,
+ (ParamInt<px4::params::MIS_MNT_YAW_CTL>) _param_mis_mnt_yaw_ctl
)
struct mission_s _mission {};
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index c83bb58870576a888812c35ec732c29725770ca0..1e7afae7c6f8960bb44c9ba0963c23e4166c0fee 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -169,7 +169,7 @@ public:
Geofence &get_geofence() { return _geofence; }
bool get_can_loiter_at_sp() { return _can_loiter_at_sp; }
- float get_loiter_radius() { return _param_loiter_radius.get(); }
+ float get_loiter_radius() { return _param_nav_loiter_rad.get(); }
/**
* Returns the default acceptance radius defined by the parameter
@@ -279,11 +279,11 @@ public:
bool abort_landing();
// Param access
- float get_loiter_min_alt() const { return _param_loiter_min_alt.get(); }
- float get_takeoff_min_alt() const { return _param_takeoff_min_alt.get(); }
- bool get_takeoff_required() const { return _param_takeoff_required.get(); }
- float get_yaw_timeout() const { return _param_yaw_timeout.get(); }
- float get_yaw_threshold() const { return _param_yaw_err.get(); }
+ float get_loiter_min_alt() const { return _param_mis_ltrmin_alt.get(); }
+ float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); }
+ bool get_takeoff_required() const { return _param_mis_takeoff_req.get(); }
+ float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); }
+ float get_yaw_threshold() const { return _param_mis_yaw_err.get(); }
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
float get_vtol_reverse_delay() const { return _param_reverse_delay; }
@@ -357,24 +357,24 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_LOITER_RAD>) _param_loiter_radius, /**< loiter radius for fixedwing */
- (ParamFloat<px4::params::NAV_ACC_RAD>) _param_acceptance_radius, /**< acceptance for takeoff */
+ (ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
+ (ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
(ParamFloat<px4::params::NAV_FW_ALT_RAD>)
- _param_fw_alt_acceptance_radius, /**< acceptance radius for fixedwing altitude */
+ _param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
- _param_fw_alt_lnd_acceptance_radius, /**< acceptance radius for fixedwing altitude before landing*/
+ _param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
- _param_mc_alt_acceptance_radius, /**< acceptance radius for multicopter altitude */
- (ParamInt<px4::params::NAV_FORCE_VT>) _param_force_vtol, /**< acceptance radius for multicopter altitude */
- (ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_traffic_avoidance_mode, /**< avoiding other aircraft is enabled */
+ _param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
+ (ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
+ (ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
// non-navigator parameters
// Mission (MIS_*)
- (ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_loiter_min_alt,
- (ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_takeoff_min_alt,
- (ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_takeoff_required,
- (ParamFloat<px4::params::MIS_YAW_TMT>) _param_yaw_timeout,
- (ParamFloat<px4::params::MIS_YAW_ERR>) _param_yaw_err
+ (ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
+ (ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
+ (ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
+ (ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
+ (ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
)
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 7cd439e2b0a84698fe4fc3da7a6b6062cfc90673..88459620997711a6ad9bdec1e981f90f0458af50 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -856,23 +856,23 @@ Navigator::publish_position_setpoint_triplet()
float
Navigator::get_default_acceptance_radius()
{
- return _param_acceptance_radius.get();
+ return _param_nav_acc_rad.get();
}
float
Navigator::get_acceptance_radius()
{
- return get_acceptance_radius(_param_acceptance_radius.get());
+ return get_acceptance_radius(_param_nav_acc_rad.get());
}
float
Navigator::get_default_altitude_acceptance_radius()
{
if (!get_vstatus()->is_rotary_wing) {
- return _param_fw_alt_acceptance_radius.get();
+ return _param_nav_fw_alt_rad.get();
} else {
- float alt_acceptance_radius = _param_mc_alt_acceptance_radius.get();
+ float alt_acceptance_radius = _param_nav_mc_alt_rad.get();
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
@@ -893,7 +893,7 @@ Navigator::get_altitude_acceptance_radius()
if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
// Use separate (tighter) altitude acceptance for clean altitude starting point before landing
- return _param_fw_alt_lnd_acceptance_radius.get();
+ return _param_nav_fw_altl_rad.get();
}
}
@@ -1109,7 +1109,7 @@ void Navigator::check_traffic()
// direction of traffic in human-readable 0..360 degree in earth frame
int traffic_direction = math::degrees(tr.heading) + 180;
- switch (_param_traffic_avoidance_mode.get()) {
+ switch (_param_nav_traff_avoid.get()) {
case 0: {
/* ignore */
@@ -1182,7 +1182,7 @@ Navigator::force_vtol()
{
return _vstatus.is_vtol &&
(!_vstatus.is_rotary_wing || _vstatus.in_transition_to_fw)
- && _param_force_vtol.get();
+ && _param_nav_force_vt.get();
}
int Navigator::print_usage(const char *reason)
diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp
index 13ae2ae1905c00d7b81c4761e79510041d28faf8..5294bfba9934d29e821b4ffa5f04f41a90358ff8 100644
--- a/src/modules/navigator/precland.cpp
+++ b/src/modules/navigator/precland.cpp
@@ -118,7 +118,7 @@ PrecLand::on_active()
_target_pose_valid = true;
}
- if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e6f) > _param_timeout.get()) {
+ if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e6f) > _param_pld_btout.get()) {
_target_pose_valid = false;
}
@@ -203,7 +203,7 @@ PrecLand::run_state_start()
}
// if we don't see the target after 1 second, search for it
- if (_param_search_timeout.get() > 0) {
+ if (_param_pld_srch_tout.get() > 0) {
if (hrt_absolute_time() - _point_reached_time > 2000000) {
if (!switch_to_state_search()) {
@@ -353,7 +353,7 @@ PrecLand::run_state_search()
}
// check if search timed out and go to fallback
- if (hrt_absolute_time() - _state_start_time > _param_search_timeout.get()*SEC2USEC) {
+ if (hrt_absolute_time() - _state_start_time > _param_pld_srch_tout.get()*SEC2USEC) {
PX4_WARN("Search timed out");
if (!switch_to_state_fallback()) {
@@ -434,7 +434,7 @@ PrecLand::switch_to_state_search()
vehicle_local_position_s *vehicle_local_position = _navigator->get_local_position();
position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
- pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_search_alt.get();
+ pos_sp_triplet->current.alt = vehicle_local_position->ref_alt + _param_pld_srch_alt.get();
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_navigator->set_position_setpoint_triplet_updated();
@@ -475,14 +475,14 @@ bool PrecLand::check_state_conditions(PrecLandState state)
switch (state) {
case PrecLandState::Start:
- return _search_cnt <= _param_max_searches.get();
+ return _search_cnt <= _param_pld_max_srch.get();
case PrecLandState::HorizontalApproach:
// if we're already in this state, only want to make it invalid if we reached the target but can't see it anymore
if (_state == PrecLandState::HorizontalApproach) {
- if (fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
- && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get()) {
+ if (fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_pld_hacc_rad.get()
+ && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_pld_hacc_rad.get()) {
// we've reached the position where we last saw the target. If we don't see it now, we need to do something
return _target_pose_valid && _target_pose.abs_pos_valid;
@@ -511,13 +511,13 @@ bool PrecLand::check_state_conditions(PrecLandState state)
} else {
// if not already in this state, need to be above target to enter it
return _target_pose_updated && _target_pose.abs_pos_valid
- && fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_hacc_rad.get()
- && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_hacc_rad.get();
+ && fabsf(_target_pose.x_abs - vehicle_local_position->x) < _param_pld_hacc_rad.get()
+ && fabsf(_target_pose.y_abs - vehicle_local_position->y) < _param_pld_hacc_rad.get();
}
case PrecLandState::FinalApproach:
return _target_pose_valid && _target_pose.abs_pos_valid
- && (_target_pose.z_abs - vehicle_local_position->z) < _param_final_approach_alt.get();
+ && (_target_pose.z_abs - vehicle_local_position->z) < _param_pld_fappr_alt.get();
case PrecLandState::Search:
return true;
diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h
index 1bc205aa8f2c499afcbcda36381480888bebf4a8..452244d408242fe0b0ecd8685b9ecf02d036a417 100644
--- a/src/modules/navigator/precland.h
+++ b/src/modules/navigator/precland.h
@@ -125,12 +125,12 @@ private:
PrecLandMode _mode{PrecLandMode::Opportunistic};
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,
- (ParamFloat<px4::params::PLD_HACC_RAD>) _param_hacc_rad,
- (ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_final_approach_alt,
- (ParamFloat<px4::params::PLD_SRCH_ALT>) _param_search_alt,
- (ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_search_timeout,
- (ParamInt<px4::params::PLD_MAX_SRCH>) _param_max_searches
+ (ParamFloat<px4::params::PLD_BTOUT>) _param_pld_btout,
+ (ParamFloat<px4::params::PLD_HACC_RAD>) _param_pld_hacc_rad,
+ (ParamFloat<px4::params::PLD_FAPPR_ALT>) _param_pld_fappr_alt,
+ (ParamFloat<px4::params::PLD_SRCH_ALT>) _param_pld_srch_alt,
+ (ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_pld_srch_tout,
+ (ParamInt<px4::params::PLD_MAX_SRCH>) _param_pld_max_srch
)
// non-navigator parameters
diff --git a/src/modules/navigator/rcloss.cpp b/src/modules/navigator/rcloss.cpp
index 68a3633bdb890d2ad561ee8190b466b5b3e55315..d12168c7209628a3055775cf76824f368c0d0d9b 100644
--- a/src/modules/navigator/rcloss.cpp
+++ b/src/modules/navigator/rcloss.cpp
@@ -104,7 +104,7 @@ RCLoss::set_rcl_item()
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
- _mission_item.time_inside = _param_loitertime.get() < 0.0f ? 0.0f : _param_loitertime.get();
+ _mission_item.time_inside = _param_nav_gpsf_lt.get() < 0.0f ? 0.0f : _param_nav_gpsf_lt.get();
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -142,7 +142,7 @@ RCLoss::advance_rcl()
{
switch (_rcl_state) {
case RCL_STATE_NONE:
- if (_param_loitertime.get() > 0.0f) {
+ if (_param_nav_gpsf_lt.get() > 0.0f) {
warnx("RC loss, OBC mode, loiter");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "RC loss, loitering");
_rcl_state = RCL_STATE_LOITER;
diff --git a/src/modules/navigator/rcloss.h b/src/modules/navigator/rcloss.h
index c626f1e3124f625145e1cdd0341a335dd302b9f1..561d457f3a7250ca425c9d2e278051e605344df8 100644
--- a/src/modules/navigator/rcloss.h
+++ b/src/modules/navigator/rcloss.h
@@ -58,7 +58,7 @@ public:
private:
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_RCL_LT>) _param_loitertime
+ (ParamFloat<px4::params::NAV_RCL_LT>) _param_nav_gpsf_lt
)
enum RCLState {
diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp
index 16a08092951cc53f9a028fd20a8bfe2227a13d7d..5ad35a21a30f95a236134dc27ddf4a7bcc046457 100644
--- a/src/modules/navigator/rtl.cpp
+++ b/src/modules/navigator/rtl.cpp
@@ -74,7 +74,7 @@ RTL::on_activation()
} else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) {
// RTL straight to RETURN state, but mission will takeover for landing.
- } else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_return_alt.get())
+ } else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_rtl_return_alt.get())
|| _rtl_alt_min) {
// If lower than return altitude, climb up first.
@@ -134,15 +134,15 @@ RTL::set_rtl_item()
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
// Compute the return altitude.
- float return_alt = math::max(home.alt + _param_return_alt.get(), gpos.alt);
+ float return_alt = math::max(home.alt + _param_rtl_return_alt.get(), gpos.alt);
// We are close to home, limit climb to min.
if (home_dist < _param_rtl_min_dist.get()) {
- return_alt = home.alt + _param_descend_alt.get();
+ return_alt = home.alt + _param_rtl_descend_alt.get();
}
// Compute the loiter altitude.
- const float loiter_altitude = math::min(home.alt + _param_descend_alt.get(), gpos.alt);
+ const float loiter_altitude = math::min(home.alt + _param_rtl_descend_alt.get(), gpos.alt);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -229,7 +229,7 @@ RTL::set_rtl_item()
}
case RTL_STATE_LOITER: {
- const bool autoland = (_param_land_delay.get() > FLT_EPSILON);
+ const bool autoland = (_param_rtl_land_delay.get() > FLT_EPSILON);
// Don't change altitude.
_mission_item.lat = home.lat;
@@ -239,7 +239,7 @@ RTL::set_rtl_item()
_mission_item.yaw = home.yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
- _mission_item.time_inside = math::max(_param_land_delay.get(), 0.0f);
+ _mission_item.time_inside = math::max(_param_rtl_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -324,7 +324,7 @@ RTL::advance_rtl()
case RTL_STATE_DESCEND:
// Only go to land if autoland is enabled.
- if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
+ if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
} else {
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index f477713b86c30bb8b70c0069b41682a70655bc05..d852232d5105ace160837a532f93872a7aaa6d62 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -94,9 +94,9 @@ private:
bool _rtl_alt_min{false};
DEFINE_PARAMETERS(
- (ParamFloat<px4::params::RTL_RETURN_ALT>) _param_return_alt,
- (ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_descend_alt,
- (ParamFloat<px4::params::RTL_LAND_DELAY>) _param_land_delay,
+ (ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
+ (ParamFloat<px4::params::RTL_DESCEND_ALT>) _param_rtl_descend_alt,
+ (ParamFloat<px4::params::RTL_LAND_DELAY>) _param_rtl_land_delay,
(ParamFloat<px4::params::RTL_MIN_DIST>) _param_rtl_min_dist,
(ParamInt<px4::params::RTL_TYPE>) _param_rtl_type
)