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Allocation: add Single Channel Aileron to CS types

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This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-08 11:34:30 +02:00
committed by Beat Küng
parent c6d1b1f50f
commit 9e18b351bc
4 changed files with 18 additions and 1 deletions
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ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -1
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@@ -111,7 +111,7 @@ param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0 param set-default CA_ROTOR4_AZ 0.0
param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 12 #custom type as combined aileron param set-default CA_SV_CS0_TYPE 15
param set-default CA_SV_CS0_TRQ_R 1.0 param set-default CA_SV_CS0_TRQ_R 1.0
param set-default CA_SV_CS1_TRQ_P 0.5000 param set-default CA_SV_CS1_TRQ_P 0.5000
param set-default CA_SV_CS1_TRQ_R 0.0000 param set-default CA_SV_CS1_TRQ_R 0.0000
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
+9
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@@ -120,6 +120,15 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
case Type::Custom: case Type::Custom:
break; break;
case Type::LeftATail:
break;
case Type::RightATail:
break;
case Type::SingleChannelAileron:
break;
} }
} }
} }
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp
+3
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@@ -57,6 +57,9 @@ public:
RightFlaps = 10, RightFlaps = 10,
Airbrakes = 11, Airbrakes = 11,
Custom = 12, Custom = 12,
LeftATail = 13,
RightATail = 14,
SingleChannelAileron = 15,
}; };
struct Params { struct Params {
src/modules/control_allocator/module.yaml
+5
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@@ -270,6 +270,7 @@ parameters:
12: Custom 12: Custom
13: Left A-tail 13: Left A-tail
14: Right A-tail 14: Right A-tail
15: Single Channel Aileron
num_instances: *max_num_servos num_instances: *max_num_servos
instance_start: 0 instance_start: 0
default: 0 default: 0
@@ -539,6 +540,10 @@ mixer:
- { 'hidden': True, 'default': 0.0 } # roll - { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
15: # Single Channel Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters - select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter'] apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']