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Make flap slew rate configurable (#26240)
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* Make flap slew rate configurable * Dynamically update params
This commit is contained in:
Jaeyoung Lim
GitHub
+4
-1
@@ -59,7 +59,7 @@ ActuatorEffectivenessControlSurfaces::ActuatorEffectivenessControlSurfaces(Modul
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_param_handles[i].scale_spoiler = param_find(buffer);
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}
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_flaps_setpoint_with_slewrate.setSlewRate(kFlapSlewRate);
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_flaps_setpoint_with_slewrate.setSlewRate(_param_ca_flap_slew.get());
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_spoilers_setpoint_with_slewrate.setSlewRate(kSpoilersSlewRate);
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_count_handle = param_find("CA_SV_CS_COUNT");
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@@ -75,6 +75,9 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
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return;
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}
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// Update flap slewrates
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_flaps_setpoint_with_slewrate.setSlewRate(_param_ca_flap_slew.get());
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// Helper to check if a PWM center parameter is enabled, and clamp it to valid range
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auto check_pwm_center = [](const char *prefix, int channel) -> bool {
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char param_name[20];
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+3
-1
@@ -38,7 +38,6 @@
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#include <px4_platform_common/module_params.h>
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#include <lib/slew_rate/SlewRate.hpp>
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static constexpr float kFlapSlewRate = 0.5f; // slew rate for normalized flaps setpoint [1/s]
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static constexpr float kSpoilersSlewRate = 0.5f; // slew rate for normalized spoilers setpoint [1/s]
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class ActuatorEffectivenessControlSurfaces : public ModuleParams, public ActuatorEffectiveness
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@@ -111,4 +110,7 @@ private:
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SlewRate<float> _flaps_setpoint_with_slewrate;
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SlewRate<float> _spoilers_setpoint_with_slewrate;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::CA_SV_FLAP_SLEW>) _param_ca_flap_slew
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)
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};
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@@ -336,6 +336,15 @@ parameters:
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instance_start: 0
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default: 0
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CA_SV_FLAP_SLEW:
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description:
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short: Control Surface slew rate for normalized flaps setpoint
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type: float
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decimal: 1
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min: 0.0
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max: 5.0
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default: 0.5
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CA_SV_CS${i}_SPOIL:
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description:
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short: Control Surface ${i} configuration as spoiler
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