Omni MC: Changed the parameter name MC_OMNI_MODE to OMNI_ATT_MODE

- To be more descriptive and similar to other (future) OMNI_ parameters

ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt

@@ -38,7 +38,7 @@ then
 
 	param set SDLOG_PROFILE 179
 
-	param set MC_OMNI_MODE 2
+	param set OMNI_ATT_MODE 2
 fi
 
 set MAV_TYPE 13

ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x

@@ -46,7 +46,7 @@ then
 
 	param set BAT_N_CELLS 4
 
-	param set MC_OMNI_MODE 2
+	param set OMNI_ATT_MODE 2
 fi
 
 # Set mixer

ROMFS/px4fmu_common/init.d/rc.mc_defaults

@@ -19,7 +19,7 @@ then
 	param set PWM_MIN 1075
 	param set PWM_RATE 400
 
-	param set MC_OMNI_MODE 0
+	param set OMNI_ATT_MODE 0
 fi
 
 #

src/modules/mc_att_control/mc_att_control.hpp

@@ -159,7 +159,7 @@ private:
 
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
 
-		(ParamInt<px4::params::MC_OMNI_MODE>) _param_mc_omni_mode
+		(ParamInt<px4::params::OMNI_ATT_MODE>) _param_omni_att_mode
 	)
 
 	bool _is_tailsitter{false};

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -219,7 +219,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 	attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
 
 	/* modify roll/pitch if we're in omni-directional mode */
-	if (_param_mc_omni_mode.get() == 2) {
+	if (_param_omni_att_mode.get() == 2) {
 		// set the euler angles, for logging only, must not be used for control
 		attitude_setpoint.roll_body = 0;
 		attitude_setpoint.pitch_body = 0;

src/modules/mc_pos_control/PositionControl/ControlMath.cpp

@@ -47,8 +47,9 @@ namespace ControlMath
 void thrustToAttitude(const Vector3f &thr_sp, const float yaw_sp, const int omni_att_mode,
 		      vehicle_attitude_setpoint_s &att_sp)
 {
+	// Print an error if the omni_att_mode parameter is out of range
 	if (omni_att_mode > 2 || omni_att_mode < 0) {
-		PX4_ERR("omni_att_mode set to unknown value!");
+		PX4_ERR("OMNI_ATT_MODE parameter set to unknown value!");
 	}
 
 	switch (omni_att_mode) {
@@ -56,7 +57,7 @@ void thrustToAttitude(const Vector3f &thr_sp, const float yaw_sp, const int omni
 		thrustToZeroTiltAttitude(thr_sp, yaw_sp, att_sp);
 		break;
 
-	default:
+	default: // Attitude is calculated from the desired thrust direction
 		bodyzToAttitude(-thr_sp, yaw_sp, att_sp);
 		att_sp.thrust_body[2] = -thr_sp.length();
 	}

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -173,7 +173,7 @@ private:
 		(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
 		(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
 		(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
-		(ParamInt<px4::params::MC_OMNI_MODE>) _param_mc_omni_mode
+		(ParamInt<px4::params::OMNI_ATT_MODE>) _param_omni_att_mode
 	);
 
 	control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
@@ -656,7 +656,7 @@ MulticopterPositionControl::Run()
 
 			vehicle_attitude_setpoint_s attitude_setpoint{};
 			attitude_setpoint.timestamp = time_stamp_now;
-			_control.getAttitudeSetpoint(_param_mc_omni_mode.get(), attitude_setpoint);
+			_control.getAttitudeSetpoint(_param_omni_att_mode.get(), attitude_setpoint);
 
 			// Part of landing logic: if ground-contact/maybe landed was detected, turn off
 			// controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic.

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -747,9 +747,17 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
 PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
 
 /**
- * Omni-directional Controller mode.
+ * Omni-directional attitude setpoint mode
  *
- * Specifies the heading in Auto.
+ * Specifies the type of attitude setpoint sent to the attitude controller.
+ * The parameter can be set to a normal attitude setpoint, where the tilt
+ * of the vehicle (roll and pitch) are calculated from the desired thrust
+ * vector. This should be the behavior for the non-omnidirectional vehicles,
+ * such as quadrotors and other multirotors with coplanar rotors.
+ * The "constant zero tilt" mode enforces zero roll and pitch and can only be
+ * used for omnidirectional vehicles. The daisy-chain mode enforces zero tilt
+ * up to a maximum set acceleration (thrust) and tilts the vehicle as small
+ * as possible if the thrust vector is larger than the maximum.
  *
  * @min 0
  * @max 2
@@ -758,4 +766,4 @@ PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
  * @value 2 constant zero tilt
  * @group Multicopter Attitude Control
  */
-PARAM_DEFINE_INT32(MC_OMNI_MODE, 0);
+PARAM_DEFINE_INT32(OMNI_ATT_MODE, 0);