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VTOL: add parameter to set the PWM_OUTPUT_DEVICE_PATH (#14732)

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The device path is needed to apply PWM limits on the motors that are not
used for FW flight (switch them off). With this parameter the device path can be set
to either IO or FMU, depending on whether the motors are on the IO or FMU port.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-04-22 20:42:23 +02:00
committed by GitHub
parent d29344cb9c
commit 172e435ec0
6 changed files with 21 additions and 1 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+4
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@@ -92,6 +92,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
/* fetch initial parameter values */
parameters_update();
@@ -297,6 +298,9 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.dec_to_pitch_ff, &_params.dec_to_pitch_ff);
param_get(_params_handles.dec_to_pitch_i, &_params.dec_to_pitch_i);
param_get(_params_handles.vt_mc_on_fmu, &l);
_params.vt_mc_on_fmu = l;
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {
_vtol_type->parameters_update();