fw_pos_control_l1: move to px4::params

[dagar]

This is a quick initial pass to update fw_pos_control_l1 param usage. Needs to be reviewed carefully, then tested.

[Jaeyoung-Lim]

I couldn't find anything wrong, but would there be a way to test this properly?

[dagar]

I couldn't find anything wrong, but would there be a way to test this properly?

From the existing CI we can see nothing is blatantly wrong. A quick flight verifying altitude and position control mode as well as catapult/hand launch would fill most of the coverage gaps. Then a pass of the logs to verify the expected limits were maintained, etc.

As for the actual code, other than blatant typos we should carefully review the actual usage of the special cases where the parameter value was converted immediately (eg FW_MAN_R_MAX (degrees/s) -> _parameters.man_roll_max_rad (radians/s)).

[sfuhrer]

Also looks good from my side.

I've further SITL tested it on the standard VTOL a bit. Would also feel comfortable testing it on one of our small VTOLs next week, or should we ping the testing team for that?

[sfuhrer]

Why is setting it here to PARAM_INVALID necessary? Isn't it already set correctly above?

Side note: is there actually something preventing us from using the new params API also in the VTOL module? If not then I'm happy helping out with that.

[dagar]

It's not, this looks bogus.

Side note: is there actually something preventing us from using the new params API also in the VTOL module? If not then I'm happy helping out with that.

Just time. 😏

[codecov]

Codecov Report

Merging #13305 into master will decrease coverage by 17.25%.
The diff coverage is 53.92%.

@@             Coverage Diff             @@
##           master   #13305       +/-   ##
===========================================
- Coverage   53.53%   36.27%   -17.26%     
===========================================
  Files         605      545       -60     
  Lines       51366    46886     -4480     
===========================================
- Hits        27501    17010    -10491     
- Misses      23865    29876     +6011

Flag	Coverage Δ
#mavsdk	36.27% <53.92%> (-0.07%)	⬇️
#python	?
#sitl_mission_FW	?
#sitl_mission_MC_box	?
#sitl_mission_MC_offboard_att	?
#sitl_mission_MC_offboard_pos	?
#sitl_mission_Rover	?
#sitl_mission_VTOL_standard	?
#sitl_mission_VTOL_tailsitter	?
#sitl_python_FW	?
#sitl_python_MC_box	?
#sitl_python_MC_offboard_att	?
#sitl_python_MC_offboard_pos	?
#sitl_python_Rover	?
#sitl_python_VTOL_standard	?
#sitl_python_VTOL_tailsitter	?
#unittest	?

Impacted Files	Coverage Δ
...les/fw_pos_control_l1/FixedwingPositionControl.hpp	100% <100%> (ø)	⬆️
...les/fw_pos_control_l1/FixedwingPositionControl.cpp	47.55% <53.46%> (-33.35%)	⬇️
src/systemcmds/tests/test_bezierQuad.cpp	0% <0%> (-100%)	⬇️
src/lib/controllib/BlockLimitSym.cpp	0% <0%> (-100%)	⬇️
src/modules/navigator/mission_block.h	0% <0%> (-100%)	⬇️
src/systemcmds/tests/test_search_min.cpp	0% <0%> (-100%)	⬇️
src/systemcmds/tests/test_hrt.cpp	0% <0%> (-100%)	⬇️
...c/modules/mavlink/mavlink_tests/mavlink_ftp_test.h	0% <0%> (-100%)	⬇️
src/modules/navigator/takeoff.h	0% <0%> (-100%)	⬇️
src/modules/navigator/land.h	0% <0%> (-100%)	⬇️
... and 285 more