Parameter update - Rename variables in modules/fw_pos_control

using parameter_update.py script

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp

@@ -61,14 +61,14 @@ void CatapultLaunchMethod::update(float accel_x)
 	case LAUNCHDETECTION_RES_NONE:
 
 		/* Detect a acceleration that is longer and stronger as the minimum given by the params */
-		if (accel_x > _thresholdAccel.get()) {
+		if (accel_x > _param_laun_cat_a.get()) {
 			_integrator += dt;
 
-			if (_integrator > _thresholdTime.get()) {
-				if (_motorDelay.get() > 0.0f) {
+			if (_integrator > _param_laun_cat_t.get()) {
+				if (_param_laun_cat_mdel.get() > 0.0f) {
 					state = LAUNCHDETECTION_RES_DETECTED_ENABLECONTROL;
 					PX4_WARN("Launch detected: enablecontrol, waiting %8.4fs until full throttle",
-						 double(_motorDelay.get()));
+						 double(_param_laun_cat_mdel.get()));
 
 				} else {
 					/* No motor delay set: go directly to enablemotors state */
@@ -88,7 +88,7 @@ void CatapultLaunchMethod::update(float accel_x)
 		 * over to allow full throttle */
 		_motorDelayCounter += dt;
 
-		if (_motorDelayCounter > _motorDelay.get()) {
+		if (_motorDelayCounter > _param_laun_cat_mdel.get()) {
 			PX4_INFO("Launch detected: state enablemotors");
 			state = LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS;
 		}
@@ -120,7 +120,7 @@ float CatapultLaunchMethod::getPitchMax(float pitchMaxDefault)
 		return pitchMaxDefault;
 
 	} else {
-		return _pitchMaxPreThrottle.get();
+		return _param_laun_cat_pmax.get();
 	}
 }
 

src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h

@@ -68,10 +68,10 @@ private:
 	LaunchDetectionResult state{LAUNCHDETECTION_RES_NONE};
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::LAUN_CAT_A>) _thresholdAccel,
-		(ParamFloat<px4::params::LAUN_CAT_T>) _thresholdTime,
-		(ParamFloat<px4::params::LAUN_CAT_MDEL>) _motorDelay,
-		(ParamFloat<px4::params::LAUN_CAT_PMAX>) _pitchMaxPreThrottle /**< Upper pitch limit before throttle is turned on.
+		(ParamFloat<px4::params::LAUN_CAT_A>) _param_laun_cat_a,
+		(ParamFloat<px4::params::LAUN_CAT_T>) _param_laun_cat_t,
+		(ParamFloat<px4::params::LAUN_CAT_MDEL>) _param_laun_cat_mdel,
+		(ParamFloat<px4::params::LAUN_CAT_PMAX>) _param_laun_cat_pmax /**< Upper pitch limit before throttle is turned on.
 						       Can be used to make sure that the AC does not climb
 						       too much while attached to a bungee */
 	)

src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h

@@ -60,7 +60,7 @@ public:
 
 	void update(float accel_x);
 	LaunchDetectionResult getLaunchDetected();
-	bool launchDetectionEnabled() { return _launchdetection_on.get(); }
+	bool launchDetectionEnabled() { return _param_laun_all_on.get(); }
 
 	/* Returns a maximum pitch in deg. Different launch methods may impose upper pitch limits during launch */
 	float getPitchMax(float pitchMaxDefault);
@@ -77,7 +77,7 @@ private:
 	LaunchMethod *_launchMethods[1];
 
 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::LAUN_ALL_ON>) _launchdetection_on
+		(ParamBool<px4::params::LAUN_ALL_ON>) _param_laun_all_on
 	)
 };
 

src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.cpp

@@ -86,7 +86,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl,
 		break;
 
 	case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
-		if (airspeed > _airspeed_min.get() * _min_airspeed_scaling.get()) {
+		if (airspeed > _param_fw_airspd_min.get() * _param_rwto_airspd_scl.get()) {
 			_state = RunwayTakeoffState::TAKEOFF;
 			mavlink_log_info(mavlink_log_pub, "#Takeoff airspeed reached");
 		}
@@ -94,14 +94,14 @@ void RunwayTakeoff::update(float airspeed, float alt_agl,
 		break;
 
 	case RunwayTakeoffState::TAKEOFF:
-		if (alt_agl > _nav_alt.get()) {
+		if (alt_agl > _param_rwto_nav_alt.get()) {
 			_state = RunwayTakeoffState::CLIMBOUT;
 
 			/*
 			 * If we started in heading hold mode, move the navigation start WP to the current location now.
 			 * The navigator will take this as starting point to navigate towards the takeoff WP.
 			 */
-			if (_heading_mode.get() == 0) {
+			if (_param_rwto_hdg.get() == 0) {
 				_start_wp(0) = (float)current_lat;
 				_start_wp(1) = (float)current_lon;
 			}
@@ -112,7 +112,7 @@ void RunwayTakeoff::update(float airspeed, float alt_agl,
 		break;
 
 	case RunwayTakeoffState::CLIMBOUT:
-		if (alt_agl > _climbout_diff.get()) {
+		if (alt_agl > _param_fw_clmbout_diff.get()) {
 			_climbout = false;
 			_state = RunwayTakeoffState::FLY;
 			mavlink_log_info(mavlink_log_pub, "#Navigating to waypoint");
@@ -143,7 +143,7 @@ bool RunwayTakeoff::controlYaw()
 float RunwayTakeoff::getPitch(float tecsPitch)
 {
 	if (_state <= RunwayTakeoffState::CLAMPED_TO_RUNWAY) {
-		return math::radians(_runway_pitch_sp.get());
+		return math::radians(_param_rwto_psp.get());
 	}
 
 	return tecsPitch;
@@ -162,8 +162,8 @@ float RunwayTakeoff::getRoll(float navigatorRoll)
 	// allow some roll during climbout
 	else if (_state < RunwayTakeoffState::FLY) {
 		return math::constrain(navigatorRoll,
-				       math::radians(-_max_takeoff_roll.get()),
-				       math::radians(_max_takeoff_roll.get()));
+				       math::radians(-_param_rwto_max_roll.get()),
+				       math::radians(_param_rwto_max_roll.get()));
 	}
 
 	return navigatorRoll;
@@ -177,7 +177,7 @@ float RunwayTakeoff::getRoll(float navigatorRoll)
  */
 float RunwayTakeoff::getYaw(float navigatorYaw)
 {
-	if (_heading_mode.get() == 0 && _state < RunwayTakeoffState::CLIMBOUT) {
+	if (_param_rwto_hdg.get() == 0 && _state < RunwayTakeoffState::CLIMBOUT) {
 		return _init_yaw;
 
 	} else {
@@ -196,14 +196,14 @@ float RunwayTakeoff::getThrottle(float tecsThrottle)
 	switch (_state) {
 	case RunwayTakeoffState::THROTTLE_RAMP: {
 			float throttle = hrt_elapsed_time(&_initialized_time) / (float)_throttle_ramp_time *
-					 _takeoff_throttle.get();
-			return throttle < _takeoff_throttle.get() ?
+					 _param_rwto_max_thr.get();
+			return throttle < _param_rwto_max_thr.get() ?
 			       throttle :
-			       _takeoff_throttle.get();
+			       _param_rwto_max_thr.get();
 		}
 
 	case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
-		return _takeoff_throttle.get();
+		return _param_rwto_max_thr.get();
 
 	default:
 		return tecsThrottle;
@@ -242,8 +242,8 @@ float RunwayTakeoff::getMinPitch(float sp_min, float climbout_min, float min)
 float RunwayTakeoff::getMaxPitch(float max)
 {
 	// use max pitch from parameter if set (> 0.1)
-	if (_state < RunwayTakeoffState::FLY && _max_takeoff_pitch.get() > 0.1f) {
-		return _max_takeoff_pitch.get();
+	if (_state < RunwayTakeoffState::FLY && _param_rwto_max_pitch.get() > 0.1f) {
+		return _param_rwto_max_pitch.get();
 	}
 
 	else {

src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h

@@ -74,8 +74,8 @@ public:
 	RunwayTakeoffState getState() { return _state; }
 	bool isInitialized() { return _initialized; }
 
-	bool runwayTakeoffEnabled() { return _runway_takeoff_enabled.get(); }
-	float getMinAirspeedScaling() { return _min_airspeed_scaling.get(); }
+	bool runwayTakeoffEnabled() { return _param_rwto_tkoff.get(); }
+	float getMinAirspeedScaling() { return _param_rwto_airspd_scl.get(); }
 	float getInitYaw() { return _init_yaw; }
 
 	bool controlYaw();
@@ -102,16 +102,16 @@ private:
 	matrix::Vector2f _start_wp;
 
 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::RWTO_TKOFF>) _runway_takeoff_enabled,
-		(ParamInt<px4::params::RWTO_HDG>) _heading_mode,
-		(ParamFloat<px4::params::RWTO_NAV_ALT>) _nav_alt,
-		(ParamFloat<px4::params::RWTO_MAX_THR>) _takeoff_throttle,
-		(ParamFloat<px4::params::RWTO_PSP>) _runway_pitch_sp,
-		(ParamFloat<px4::params::RWTO_MAX_PITCH>) _max_takeoff_pitch,
-		(ParamFloat<px4::params::RWTO_MAX_ROLL>) _max_takeoff_roll,
-		(ParamFloat<px4::params::RWTO_AIRSPD_SCL>) _min_airspeed_scaling,
-		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _airspeed_min,
-		(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _climbout_diff
+		(ParamBool<px4::params::RWTO_TKOFF>) _param_rwto_tkoff,
+		(ParamInt<px4::params::RWTO_HDG>) _param_rwto_hdg,
+		(ParamFloat<px4::params::RWTO_NAV_ALT>) _param_rwto_nav_alt,
+		(ParamFloat<px4::params::RWTO_MAX_THR>) _param_rwto_max_thr,
+		(ParamFloat<px4::params::RWTO_PSP>) _param_rwto_psp,
+		(ParamFloat<px4::params::RWTO_MAX_PITCH>) _param_rwto_max_pitch,
+		(ParamFloat<px4::params::RWTO_MAX_ROLL>) _param_rwto_max_roll,
+		(ParamFloat<px4::params::RWTO_AIRSPD_SCL>) _param_rwto_airspd_scl,
+		(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
+		(ParamFloat<px4::params::FW_CLMBOUT_DIFF>) _param_fw_clmbout_diff
 	)
 
 };