From ce001beac80447f6cf96ad29848dc471733a495a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 16 Jul 2018 10:58:45 -0400
Subject: [PATCH] fmu relocate MOT_SLEW_MAX and THR_MDL_FAC parameters
 centrally

---
 src/drivers/px4fmu/px4fmu_params.c | 27 ------------
 src/modules/sensors/motor_params.c | 67 ++++++++++++++++++++++++++++++
 2 files changed, 67 insertions(+), 27 deletions(-)
 create mode 100644 src/modules/sensors/motor_params.c

diff --git a/src/drivers/px4fmu/px4fmu_params.c b/src/drivers/px4fmu/px4fmu_params.c
index a33c204257cb..df4ed00bda44 100644
--- a/src/drivers/px4fmu/px4fmu_params.c
+++ b/src/drivers/px4fmu/px4fmu_params.c
@@ -31,33 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * 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);
-
 /**
  * Motor Ordering
  *
diff --git a/src/modules/sensors/motor_params.c b/src/modules/sensors/motor_params.c
new file mode 100644
index 000000000000..fa625230dac0
--- /dev/null
+++ b/src/modules/sensors/motor_params.c
@@ -0,0 +1,67 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file motor_params.c
+ *
+ * Parameters for motors.
+ *
+ */
+
+
+/**
+ * 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);
+
+/**
+ * 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);