VTOL: add parameter to prevent flight if roll direction was not checked

Mark V19_VT_ROLLDIR @category system

Throttle down mavlink critical msg

Send 0 actuator_output for safety

VTOL: unset v1.9 roll direction safety check param for builtin airframes

ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol

@@ -38,6 +38,9 @@ then
 	param set VT_TYPE 2
 
 	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d-posix/1041_tailsitter

@@ -39,6 +39,9 @@ then
 	param set VT_TYPE 0
 
 	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 20

ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor

@@ -42,6 +42,9 @@ then
 	param set VT_TYPE 1
 
 	param set WEST_EN 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -62,6 +62,9 @@ then
 	param set VT_F_TRANS_THR 0.75
 	param set VT_MOT_COUNT 4
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 param set SYS_HITL 1

ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard

@@ -27,6 +27,9 @@ then
 
 	param set VT_TYPE 2
 	param set VT_MOT_COUNT 4
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol

@@ -37,6 +37,9 @@ then
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_MOT_COUNT 2
 	param set VT_TYPE 0
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 19

ROMFS/px4fmu_common/init.d/airframes/13002_firefly6

@@ -48,6 +48,9 @@ then
 	param set VT_TILT_FW 0.9
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter

@@ -19,6 +19,9 @@ then
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 20

ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter

@@ -30,6 +30,9 @@ then
 	param set VT_IDLE_PWM_MC  1080
 	param set VT_TYPE 0
 	param set VT_ELEV_MC_LOCK 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 20

ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad

@@ -60,6 +60,9 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta

@@ -49,6 +49,9 @@ then
 	param set VT_F_TRANS_THR 0.75
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad

@@ -37,6 +37,9 @@ then
 	param set VT_MOT_COUNT 4
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger

@@ -55,6 +55,9 @@ then
 	param set VT_IDLE_PWM_MC 1080
 	param set VT_MOT_COUNT 4
 	param set VT_TYPE 2
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger

@@ -77,6 +77,8 @@ then
 	param set VT_TRANS_TIMEOUT    30
 	param set VT_TYPE 2
 
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

ROMFS/px4fmu_common/init.d/airframes/13010_claire

@@ -30,6 +30,9 @@ then
 	param set VT_TILT_TRANS 0.5
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/airframes/13012_convergence

@@ -77,6 +77,9 @@ then
 	param set VT_TRANS_P2_DUR 1.3
 	param set VT_ELEV_MC_LOCK 0
 	param set VT_TYPE 1
+
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 21

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -151,6 +151,8 @@ then
 	param set VT_TRANS_TIMEOUT 22
 	param set VT_F_TRANS_RAMP 4
 
+	# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
+	param set V19_VT_ROLLDIR 0
 fi
 
 set MAV_TYPE 22

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -89,6 +89,8 @@ VtolAttitudeControl::VtolAttitudeControl()
 	_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
 	_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
 
+	_params_handles.v19_vt_rolldir = param_find("V19_VT_ROLLDIR");
+
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -504,6 +506,9 @@ VtolAttitudeControl::parameters_update()
 	// make sure parameters are feasible, require at least 1 m/s difference between transition and blend airspeed
 	_params.airspeed_blend = math::min(_params.airspeed_blend, _params.transition_airspeed - 1.0f);
 
+	// Bugfix for v1.9, should be removed in 1.10
+	param_get(_params_handles.v19_vt_rolldir, &_params.v19_vt_rolldir);
+
 	// update the parameters of the instances of base VtolType
 	if (_vtol_type != nullptr) {
 		_vtol_type->parameters_update();
@@ -663,7 +668,39 @@ void VtolAttitudeControl::task_main()
 			_vtol_type->update_transition_state();
 		}
 
-		_vtol_type->fill_actuator_outputs();
+		// Fill actuator output
+		if (_params.v19_vt_rolldir) {
+
+			// The mixer may not have been adapted to the roll inversion in v1.9
+			// Display error message and do not fill actuator outputs
+			// TODO: remove the parameter and this error message in v1.10
+			const int v19_rolldir_warning_throttling = 5000;
+			static int v19_rolldir_warning_counter = 0;
+			v19_rolldir_warning_counter += 1;
+
+			if ((v19_rolldir_warning_counter % v19_rolldir_warning_throttling) == 0) {
+				mavlink_log_critical(&_mavlink_log_pub,
+						     "The VTOL roll commands were inverted in v1.9!");
+				mavlink_log_critical(&_mavlink_log_pub,
+						     "Check roll mixing, then set V19_VT_ROLLDIR to 0");
+			}
+
+			// Do not fill actuator output
+			_actuators_out_0.timestamp = hrt_absolute_time();
+			_actuators_out_0.timestamp_sample = _actuators_mc_in.timestamp_sample;
+			_actuators_out_1.timestamp = hrt_absolute_time();
+			_actuators_out_1.timestamp_sample = _actuators_fw_in.timestamp_sample;
+
+			for (size_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; i++) {
+				_actuators_out_0.control[i] = 0.0f;
+				_actuators_out_1.control[i] = 0.0f;
+			}
+
+		} else {
+
+			// normal operation
+			_vtol_type->fill_actuator_outputs();
+		}
 
 		/* Only publish if the proper mode(s) are enabled */
 		if (_v_control_mode.flag_control_attitude_enabled ||

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -197,6 +197,7 @@ private:
 		param_t fw_motors_off;
 		param_t diff_thrust;
 		param_t diff_thrust_scale;
+		param_t v19_vt_rolldir;
 	} _params_handles{};
 
 	/* for multicopters it is usual to have a non-zero idle speed of the engines

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -314,3 +314,27 @@ PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);
+
+/**
+ * Temporary parameter for the upgrade to v1.9, this is reminder to check the direction of
+ * fixed-wing roll control surfaces on custom VTOLs platforms.
+ *
+ * This parameter is present in v1.9 to enable smooth transition, it will be removed in v1.10.
+ *
+ * In firmware versions before v1.9, the VTOL attitude controller generated reversed fixed
+ * wing roll commands. As a consequence, all VTOL mixers had to reverse roll mixing. The
+ * VTOL roll commands in fixed wing mode were fixed in v1.9!
+ * - Standard VTOL platforms should be unaffected and this parameter can be ignored.
+ * - Custom VTOL platforms may crash if no action is taken, please check the direction of
+ * deflection of roll control surfaces before flight. Fix the roll mixer if necessary.
+ *
+ * Set to 1 to disable VTOL actuator outputs and display an info message (default).
+ * Set to 0 AFTER CAREFULLY CHECKING the direction of deflection of roll control surfaces.
+ *
+ * @min 0
+ * @max 1
+ * @decimal 0
+ * @category system
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(V19_VT_ROLLDIR, 1);

src/modules/vtol_att_control/vtol_type.h

@@ -70,6 +70,7 @@ struct Params {
 	int32_t fw_motors_off;			/**< bitmask of all motors that should be off in fixed wing mode */
 	int32_t diff_thrust;
 	float diff_thrust_scale;
+	int32_t v19_vt_rolldir;
 };
 
 // Has to match 1:1 msg/vtol_vehicle_status.msg