From 923a90d78b845b7d5cb117ec6bbcb6edfb2f57bb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 28 Jul 2022 16:26:42 +0200 Subject: [PATCH] control_allocator: set default control surface type to (not set) Before it was set to left aileron, but the torque values were all 0. --- .../px4fmu_common/init.d/airframes/1002_standard_vtol.hil | 2 ++ .../init.d/airframes/13030_generic_vtol_quad_tiltrotor | 2 ++ ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane | 1 + src/modules/control_allocator/module.yaml | 7 ++++++- 4 files changed, 11 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil index 4803c0a3931..94ec095ecf3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil @@ -76,6 +76,8 @@ param set-default CA_ROTOR4_AZ 0.0 param set-default CA_ROTOR4_PX 0.2 param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS2_TRQ_P 1.0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor index d62b42ee71b..053d972abbe 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor +++ b/ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor @@ -51,6 +51,8 @@ param set-default CA_ROTOR3_PY 0.15 param set-default CA_ROTOR3_KM -0.05 param set-default CA_ROTOR3_TILT 4 param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS2_TRQ_P 1.0 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane index 30bce6eeefe..cd454eafed4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane +++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane @@ -14,6 +14,7 @@ param set-default CA_AIRFRAME 1 param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR0_PX 0.3 param set-default CA_SV_CS_COUNT 4 +param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TYPE 2 diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index c92e29edebe..468d2462a73 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -255,6 +255,7 @@ parameters: short: Control Surface ${i} type type: enum values: + 0: (Not set) 1: Left Aileron 2: Right Aileron 3: Elevator @@ -269,7 +270,7 @@ parameters: 12: Custom num_instances: *max_num_servos instance_start: 0 - default: 1 + default: 0 CA_SV_CS${i}_TRQ_R: description: @@ -492,6 +493,10 @@ mixer: # Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive. # By default the scale is set to 1/N, where N is the amount of actuators with an effect on # the corresponding axis. With that we are using all the available servo moving range. + 0: # Not set + - { 'disabled': True, 'default': 0.0 } # roll + - { 'disabled': True, 'default': 0.0 } # pitch + - { 'disabled': True, 'default': 0.0 } # yaw 1: # Left Aileron - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll - { 'hidden': True, 'default': 0.0 } # pitch