Revert "vtol_att_control: update parameter strings to class enum"

This reverts commit 5351f886ec.

boards/px4/fmu-v2/test.cmake

@@ -78,7 +78,7 @@ px4_add_board(
 		navigator
 		sensors
 		vmount
-		#vtol_att_control
+		vtol_att_control
 		#airspeed_selector
 
 	SYSTEMCMDS

src/modules/vtol_att_control/standard.cpp

@@ -46,8 +46,6 @@
 
 #include <float.h>
 
-#include <px4_param.h>
-
 using namespace matrix;
 
 Standard::Standard(VtolAttitudeControl *attc) :
@@ -62,13 +60,13 @@ Standard::Standard(VtolAttitudeControl *attc) :
 	_mc_yaw_weight = 1.0f;
 	_mc_throttle_weight = 1.0f;
 
-	_params_handles_standard.pusher_ramp_dt = param_handle(px4::params::VT_PSHER_RMP_DT);
-	_params_handles_standard.back_trans_ramp = param_handle(px4::params::VT_B_TRANS_RAMP);
-	_params_handles_standard.down_pitch_max = param_handle(px4::params::VT_DWN_PITCH_MAX);
-	_params_handles_standard.forward_thrust_scale = param_handle(px4::params::VT_FWD_THRUST_SC);
-	_params_handles_standard.pitch_setpoint_offset = param_handle(px4::params::FW_PSP_OFF);
-	_params_handles_standard.reverse_output = param_handle(px4::params::VT_B_REV_OUT);
-	_params_handles_standard.reverse_delay = param_handle(px4::params::VT_B_REV_DEL);
+	_params_handles_standard.pusher_ramp_dt = param_find("VT_PSHER_RMP_DT");
+	_params_handles_standard.back_trans_ramp = param_find("VT_B_TRANS_RAMP");
+	_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
+	_params_handles_standard.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
+	_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
+	_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
+	_params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL");
 }
 
 void

src/modules/vtol_att_control/tailsitter.cpp

@@ -42,8 +42,6 @@
 #include "tailsitter.h"
 #include "vtol_att_control_main.h"
 
-#include <px4_param.h>
-
 #define ARSP_YAW_CTRL_DISABLE 4.0f	// airspeed at which we stop controlling yaw during a front transition
 #define THROTTLE_TRANSITION_MAX 0.25f	// maximum added thrust above last value in transition
 #define PITCH_TRANSITION_FRONT_P1 -1.1f	// pitch angle to switch to TRANSITION_P2
@@ -63,8 +61,8 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 
 	_flag_was_in_trans_mode = false;
 
-	_params_handles_tailsitter.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR);
-	_params_handles_tailsitter.fw_pitch_sp_offset = param_handle(px4::params::FW_PSP_OFF);
+	_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
+	_params_handles_tailsitter.fw_pitch_sp_offset = param_find("FW_PSP_OFF");
 }
 
 void

src/modules/vtol_att_control/tiltrotor.cpp

@@ -42,8 +42,6 @@
 #include "tiltrotor.h"
 #include "vtol_att_control_main.h"
 
-#include <px4_param.h>
-
 #define ARSP_YAW_CTRL_DISABLE 7.0f	// airspeed at which we stop controlling yaw during a front transition
 
 Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
@@ -58,10 +56,10 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
 
 	_flag_was_in_trans_mode = false;
 
-	_params_handles_tiltrotor.tilt_mc = param_handle(px4::params::VT_TILT_MC);
-	_params_handles_tiltrotor.tilt_transition = param_handle(px4::params::VT_TILT_TRANS);
-	_params_handles_tiltrotor.tilt_fw = param_handle(px4::params::VT_TILT_FW);
-	_params_handles_tiltrotor.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR);
+	_params_handles_tiltrotor.tilt_mc = param_find("VT_TILT_MC");
+	_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
+	_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
+	_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
 }
 
 void

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -51,8 +51,6 @@
 #include <matrix/matrix/math.hpp>
 #include <uORB/PublicationQueued.hpp>
 
-#include <px4_param.h>
-
 using namespace matrix;
 
 VtolAttitudeControl::VtolAttitudeControl() :
@@ -64,30 +62,30 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params.idle_pwm_mc = PWM_DEFAULT_MIN;
 	_params.vtol_motor_id = 0;
 
-	_params_handles.idle_pwm_mc = param_handle(px4::params::VT_IDLE_PWM_MC);
-	_params_handles.vtol_motor_id = param_handle(px4::params::VT_MOT_ID);
-	_params_handles.vtol_fw_permanent_stab = param_handle(px4::params::VT_FW_PERM_STAB);
-	_params_handles.vtol_type = param_handle(px4::params::VT_TYPE);
-	_params_handles.elevons_mc_lock = param_handle(px4::params::VT_ELEV_MC_LOCK);
-	_params_handles.fw_min_alt = param_handle(px4::params::VT_FW_MIN_ALT);
-	_params_handles.fw_alt_err = param_handle(px4::params::VT_FW_ALT_ERR);
-	_params_handles.fw_qc_max_pitch = param_handle(px4::params::VT_FW_QC_P);
-	_params_handles.fw_qc_max_roll = param_handle(px4::params::VT_FW_QC_R);
-	_params_handles.front_trans_time_openloop = param_handle(px4::params::VT_F_TR_OL_TM);
-	_params_handles.front_trans_time_min = param_handle(px4::params::VT_TRANS_MIN_TM);
-
-	_params_handles.front_trans_duration = param_handle(px4::params::VT_F_TRANS_DUR);
-	_params_handles.back_trans_duration = param_handle(px4::params::VT_B_TRANS_DUR);
-	_params_handles.transition_airspeed = param_handle(px4::params::VT_ARSP_TRANS);
-	_params_handles.front_trans_throttle = param_handle(px4::params::VT_F_TRANS_THR);
-	_params_handles.back_trans_throttle = param_handle(px4::params::VT_B_TRANS_THR);
-	_params_handles.airspeed_blend = param_handle(px4::params::VT_ARSP_BLEND);
-	_params_handles.airspeed_mode = param_handle(px4::params::FW_ARSP_MODE);
-	_params_handles.front_trans_timeout = param_handle(px4::params::VT_TRANS_TIMEOUT);
-	_params_handles.mpc_xy_cruise = param_handle(px4::params::MPC_XY_CRUISE);
-	_params_handles.fw_motors_off = param_handle(px4::params::VT_FW_MOT_OFFID);
-	_params_handles.diff_thrust = param_handle(px4::params::VT_FW_DIFTHR_EN);
-	_params_handles.diff_thrust_scale = param_handle(px4::params::VT_FW_DIFTHR_SC);
+	_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
+	_params_handles.vtol_motor_id = param_find("VT_MOT_ID");
+	_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
+	_params_handles.vtol_type = param_find("VT_TYPE");
+	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
+	_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
+	_params_handles.fw_alt_err = param_find("VT_FW_ALT_ERR");
+	_params_handles.fw_qc_max_pitch = param_find("VT_FW_QC_P");
+	_params_handles.fw_qc_max_roll = param_find("VT_FW_QC_R");
+	_params_handles.front_trans_time_openloop = param_find("VT_F_TR_OL_TM");
+	_params_handles.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
+
+	_params_handles.front_trans_duration = param_find("VT_F_TRANS_DUR");
+	_params_handles.back_trans_duration = param_find("VT_B_TRANS_DUR");
+	_params_handles.transition_airspeed = param_find("VT_ARSP_TRANS");
+	_params_handles.front_trans_throttle = param_find("VT_F_TRANS_THR");
+	_params_handles.back_trans_throttle = param_find("VT_B_TRANS_THR");
+	_params_handles.airspeed_blend = param_find("VT_ARSP_BLEND");
+	_params_handles.airspeed_mode = param_find("FW_ARSP_MODE");
+	_params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
+	_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
+	_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
+	_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
+	_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
 
 	/* fetch initial parameter values */
 	parameters_update();