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VTOL: differential thrust in FW: adapt params to be generic for all axes

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Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-07-18 11:31:53 +02:00
parent 7bf934de50
commit 17a020c6a5
9 changed files with 72 additions and 20 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
+1 -1
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@@ -11,7 +11,7 @@
param set-default VT_MC_CS_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.3
param set-default VT_FW_DIFTHR_S_Y 0.3
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+1 -1
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@@ -72,7 +72,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.5
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+1 -1
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@@ -22,7 +22,7 @@ param set-default VT_MC_CS_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.3
param set-default VT_FW_DIFTHR_S_Y 0.3
param set-default MPC_MAN_Y_MAX 60
param set-default MC_PITCH_P 5
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+1 -1
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@@ -57,7 +57,7 @@ param set-default VT_B_TRANS_DUR 1
param set-default VT_F_TRANS_DUR 1.2
param set-default VT_F_TR_OL_TM 4
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.17
param set-default VT_FW_DIFTHR_S_Y 0.17
param set-default VT_FW_MOT_OFFID 3
param set-default VT_IDLE_PWM_MC 1200
param set-default VT_MOT_ID 123