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

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This reverts commit 5f06c6a1aa.
This commit is contained in:
Daniel Agar
2019-06-24 11:40:02 -04:00
committed by Lorenz Meier
parent 5002b13bda
commit 6d9bf18ca6
23 changed files with 1 additions and 118 deletions
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ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
-3
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@@ -39,9 +39,6 @@ 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
-3
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@@ -39,9 +39,6 @@ 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
-3
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@@ -42,9 +42,6 @@ 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
-3
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@@ -61,9 +61,6 @@ 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
-3
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@@ -27,9 +27,6 @@ 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
-3
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@@ -37,9 +37,6 @@ 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
-3
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@@ -48,9 +48,6 @@ 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
-3
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@@ -19,9 +19,6 @@ 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
-3
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@@ -30,9 +30,6 @@ 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
-3
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@@ -61,9 +61,6 @@ 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
-3
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@@ -49,9 +49,6 @@ 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
-3
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@@ -38,9 +38,6 @@ 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
-3
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@@ -55,9 +55,6 @@ 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
-2
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@@ -77,8 +77,6 @@ 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
-3
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@@ -30,9 +30,6 @@ 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
-3
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@@ -77,9 +77,6 @@ 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
-2
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@@ -151,8 +151,6 @@ 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
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
-2
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@@ -58,8 +58,6 @@ then
param set PWM_MAIN_MIN3 1120
param set PWM_MIN 950
param set V19_VT_ROLLDIR 0
param set VT_ARSP_TRANS 19
param set VT_B_TRANS_DUR 9
param set VT_ELEV_MC_LOCK 0
ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
-3
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@@ -31,9 +31,6 @@ then
param set VT_TYPE 2
param set VT_MOT_COUNT 8
# 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
-37
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@@ -92,8 +92,6 @@ 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();
@@ -339,9 +337,6 @@ 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();
@@ -481,39 +476,7 @@ void VtolAttitudeControl::task_main()
_vtol_type->update_transition_state();
}
// 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();
}
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
src/modules/vtol_att_control/vtol_att_control_main.h
-1
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@@ -197,7 +197,6 @@ 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
-24
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@@ -315,27 +315,3 @@ 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
-1
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@@ -70,7 +70,6 @@ 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