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fmu relocate MOT_SLEW_MAX and THR_MDL_FAC parameters centrally
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/**************************************************************************** | ||
* | ||
* Copyright (c) 2018 PX4 Development Team. All rights reserved. | ||
* | ||
* Redistribution and use in source and binary forms, with or without | ||
* modification, are permitted provided that the following conditions | ||
* are met: | ||
* | ||
* 1. Redistributions of source code must retain the above copyright | ||
* notice, this list of conditions and the following disclaimer. | ||
* 2. Redistributions in binary form must reproduce the above copyright | ||
* notice, this list of conditions and the following disclaimer in | ||
* the documentation and/or other materials provided with the | ||
* distribution. | ||
* 3. Neither the name PX4 nor the names of its contributors may be | ||
* used to endorse or promote products derived from this software | ||
* without specific prior written permission. | ||
* | ||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
* POSSIBILITY OF SUCH DAMAGE. | ||
* | ||
****************************************************************************/ | ||
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/** | ||
* @file motor_params.c | ||
* | ||
* Parameters for motors. | ||
* | ||
*/ | ||
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/** | ||
* 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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/** | ||
* 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); |