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update mavlink submodule to latest

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- update MAV_TYPE VTOL usage for current mavlink
This commit is contained in:
Daniel Agar
2022-04-07 09:15:32 -04:00
committed by Lorenz Meier
parent a5bd65b923
commit 98623f69a3
7 changed files with 33 additions and 28 deletions
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ROMFS/px4fmu_common/init.d/rc.vtol_defaults
+1 -1
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@@ -7,7 +7,7 @@
set VEHICLE_TYPE vtol set VEHICLE_TYPE vtol
# MAV_TYPE_VTOL_RESERVED2 22 # MAV_TYPE_VTOL_FIXEDROTOR 22
param set-default MAV_TYPE 22 param set-default MAV_TYPE 22
param set-default MIS_TAKEOFF_ALT 20 param set-default MIS_TAKEOFF_ALT 20
src/modules/commander/commander_helper.cpp
+13 -9
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@@ -74,10 +74,11 @@
#define VEHICLE_TYPE_HEXAROTOR 13 #define VEHICLE_TYPE_HEXAROTOR 13
#define VEHICLE_TYPE_OCTOROTOR 14 #define VEHICLE_TYPE_OCTOROTOR 14
#define VEHICLE_TYPE_TRICOPTER 15 #define VEHICLE_TYPE_TRICOPTER 15
#define VEHICLE_TYPE_VTOL_DUOROTOR 19 #define VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_QUADROTOR 20 #define VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TILTROTOR 21 #define VEHICLE_TYPE_VTOL_TILTROTOR 21
#define VEHICLE_TYPE_VTOL_RESERVED2 22 // VTOL standard #define VEHICLE_TYPE_VTOL_FIXEDROTOR 22 // VTOL standard
#define VEHICLE_TYPE_VTOL_TAILSITTER 23
#define BLINK_MSG_TIME 700000 // 3 fast blinks (in us) #define BLINK_MSG_TIME 700000 // 3 fast blinks (in us)
@@ -91,22 +92,25 @@ bool is_multirotor(const vehicle_status_s &current_status)
bool is_rotary_wing(const vehicle_status_s &current_status) bool is_rotary_wing(const vehicle_status_s &current_status)
{ {
return is_multirotor(current_status) || (current_status.system_type == VEHICLE_TYPE_HELICOPTER) return is_multirotor(current_status)
|| (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status.system_type == VEHICLE_TYPE_COAXIAL); || (current_status.system_type == VEHICLE_TYPE_COAXIAL);
} }
bool is_vtol(const vehicle_status_s &current_status) bool is_vtol(const vehicle_status_s &current_status)
{ {
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR || current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR || current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2); current_status.system_type == VEHICLE_TYPE_VTOL_FIXEDROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
} }
bool is_vtol_tailsitter(const vehicle_status_s &current_status) bool is_vtol_tailsitter(const vehicle_status_s &current_status)
{ {
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR); current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
} }
bool is_fixed_wing(const vehicle_status_s &current_status) bool is_fixed_wing(const vehicle_status_s &current_status)
src/modules/mavlink/mavlink
+1 -1
Submodule src/modules/mavlink/mavlink updated: b568a60fca...0133e5db7f
src/modules/mavlink/mavlink_params.c
+4 -3
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@@ -90,10 +90,11 @@ PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
* @value 13 Hexarotor * @value 13 Hexarotor
* @value 14 Octorotor * @value 14 Octorotor
* @value 15 Tricopter * @value 15 Tricopter
* @value 19 VTOL Tailsitter Duo * @value 19 VTOL Two-rotor Tailsitter
* @value 20 VTOL Tailsitter Quad * @value 20 VTOL Quad-rotor Tailsitter
* @value 21 VTOL Tiltrotor * @value 21 VTOL Tiltrotor
* @value 22 VTOL Standard (quadplane) * @value 22 VTOL Standard (separate fixed rotors for hover and cruise flight)
* @value 23 VTOL Tailsitter
* @group MAVLink * @group MAVLink
*/ */
PARAM_DEFINE_INT32(MAV_TYPE, 0); PARAM_DEFINE_INT32(MAV_TYPE, 0);
src/modules/mavlink/mavlink_receiver.cpp
+4 -4
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@@ -1513,11 +1513,11 @@ void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type
thrust_body_array[0] = thrust; thrust_body_array[0] = thrust;
break; break;
case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_TILTROTOR:
case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_FIXEDROTOR:
case MAV_TYPE_VTOL_RESERVED3: case MAV_TYPE_VTOL_TAILSITTER:
case MAV_TYPE_VTOL_RESERVED4: case MAV_TYPE_VTOL_RESERVED4:
case MAV_TYPE_VTOL_RESERVED5: case MAV_TYPE_VTOL_RESERVED5:
switch (vehicle_type) { switch (vehicle_type) {
src/modules/mavlink/streams/HIL_ACTUATOR_CONTROLS.hpp
+6 -6
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@@ -93,9 +93,9 @@ private:
if (system_type == MAV_TYPE_QUADROTOR || if (system_type == MAV_TYPE_QUADROTOR ||
system_type == MAV_TYPE_HEXAROTOR || system_type == MAV_TYPE_HEXAROTOR ||
system_type == MAV_TYPE_OCTOROTOR || system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR || system_type == MAV_TYPE_VTOL_TAILSITTER_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR || system_type == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2) { system_type == MAV_TYPE_VTOL_FIXEDROTOR) {
/* multirotors: set number of rotor outputs depending on type */ /* multirotors: set number of rotor outputs depending on type */
@@ -110,15 +110,15 @@ private:
n = 6; n = 6;
break; break;
case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
n = 2; n = 2;
break; break;
case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
n = 4; n = 4;
break; break;
case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_FIXEDROTOR:
n = 8; n = 8;
break; break;
src/modules/simulator/simulator_mavlink.cpp
+4 -4
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@@ -114,7 +114,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
switch (_system_type) { switch (_system_type) {
case MAV_TYPE_AIRSHIP: case MAV_TYPE_AIRSHIP:
case MAV_TYPE_VTOL_DUOROTOR: case MAV_TYPE_VTOL_TAILSITTER_DUOROTOR:
case MAV_TYPE_COAXIAL: case MAV_TYPE_COAXIAL:
pos_thrust_motors_count = 2; pos_thrust_motors_count = 2;
is_fixed_wing = false; is_fixed_wing = false;
@@ -126,13 +126,13 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
break; break;
case MAV_TYPE_QUADROTOR: case MAV_TYPE_QUADROTOR:
case MAV_TYPE_VTOL_QUADROTOR: case MAV_TYPE_VTOL_TAILSITTER_QUADROTOR:
case MAV_TYPE_VTOL_TILTROTOR: case MAV_TYPE_VTOL_TILTROTOR:
pos_thrust_motors_count = 4; pos_thrust_motors_count = 4;
is_fixed_wing = false; is_fixed_wing = false;
break; break;
case MAV_TYPE_VTOL_RESERVED2: case MAV_TYPE_VTOL_FIXEDROTOR:
pos_thrust_motors_count = 5; pos_thrust_motors_count = 5;
is_fixed_wing = false; is_fixed_wing = false;
break; break;
@@ -142,7 +142,7 @@ void Simulator::actuator_controls_from_outputs(mavlink_hil_actuator_controls_t *
is_fixed_wing = false; is_fixed_wing = false;
break; break;
case MAV_TYPE_VTOL_RESERVED3: case MAV_TYPE_VTOL_TAILSITTER:
// this is the tricopter VTOL / quad plane with 3 motors and 2 servos // this is the tricopter VTOL / quad plane with 3 motors and 2 servos
pos_thrust_motors_count = 3; pos_thrust_motors_count = 3;
is_fixed_wing = false; is_fixed_wing = false;