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ControlAllocation: introduce convention for control surface deflection sign

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- horizontal control surfaces: up=positive deflection
- vertical control surfaces (rudder): right=positive deflection
- mixed (V-Tail): up=positive deflection

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 5259877b1b
commit 1ad66e606b
7 changed files with 109 additions and 78 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+16 -18
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@@ -50,26 +50,24 @@ param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 6
param set-default CA_SV_CS0_TRQ_Y 1.0000
param set-default CA_SV_CS0_TYPE 2
param set-default CA_SV_CS1_TYPE 7
param set-default CA_SV_CS2_TRQ_P -1.0000
param set-default CA_SV_CS2_TRQ_R 1.0000
param set-default CA_SV_CS2_TYPE 9
param set-default CA_SV_CS3_TRQ_P 1.0000
param set-default CA_SV_CS3_TRQ_R 1.0000
param set-default CA_SV_CS3_TYPE 10
param set-default CA_SV_CS4_TRQ_P 1.0000
param set-default CA_SV_CS5_TYPE 8
param set-default PWM_MAIN_FUNC3 201
param set-default PWM_MAIN_FUNC4 202
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS3_TRQ_Y 1.0
param set-default CA_SV_CS3_TYPE 4
param set-default CA_SV_CS4_TYPE 9
param set-default CA_SV_CS5_TYPE 10
param set-default PWM_MAIN_FUNC3 204
param set-default PWM_MAIN_FUNC4 205
param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 203
param set-default PWM_MAIN_FUNC7 204
param set-default PWM_MAIN_FUNC8 205
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_FUNC9 206
param set-default PWM_MAIN_REV 288
param set-default PWM_MAIN_REV 256
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+7 -8
View File
@@ -7,7 +7,7 @@
. ${R}etc/init.d/rc.vtol_defaults
#param set-default SYS_CTRL_ALLOC 1
# param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 4
@@ -25,11 +25,12 @@ param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R 1.0000
param set-default CA_SV_CS0_TYPE 9
param set-default CA_SV_CS1_TRQ_R 1.0000
param set-default CA_SV_CS1_TYPE 10
param set-default CA_SV_CS2_TRQ_P 1.0000
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
@@ -38,8 +39,6 @@ param set-default PWM_MAIN_FUNC5 105
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_FUNC8 203
param set-default PWM_MAIN_REV 32
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+7 -6
View File
@@ -25,12 +25,12 @@ param set-default CA_ROTOR3_PY 1
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 2
param set-default CA_SV_CS0_TYPE 9
param set-default CA_SV_CS0_TRQ_P -1
param set-default CA_SV_CS0_TRQ_Y -1
param set-default CA_SV_CS1_TYPE 10
param set-default CA_SV_CS1_TRQ_P -1
param set-default CA_SV_CS1_TRQ_Y 1
param set-default CA_SV_CS0_TYPE 5
param set-default CA_SV_CS0_TRQ_P 0.5
param set-default CA_SV_CS0_TRQ_Y -0.5
param set-default CA_SV_CS1_TYPE 6
param set-default CA_SV_CS1_TRQ_P 0.5
param set-default CA_SV_CS1_TRQ_Y 0.5
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
@@ -39,6 +39,7 @@ param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
param set-default PWM_MAIN_FUNC6 201
param set-default PWM_MAIN_FUNC7 202
param set-default PWM_MAIN_REV 96 # invert both elevons
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30
ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+6 -6
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@@ -28,11 +28,12 @@ param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR1_TILT 2
param set-default CA_ROTOR2_TILT 3
param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS0_TRQ_R 1.0000
param set-default CA_SV_CS0_TYPE 9
param set-default CA_SV_CS1_TRQ_R 1.0000
param set-default CA_SV_CS1_TYPE 10
param set-default CA_SV_CS2_TRQ_P 1.0000
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL0_CT 0
param set-default CA_SV_TL1_CT 0
@@ -51,7 +52,6 @@ param set-default PWM_MAIN_FUNC8 207
param set-default PWM_MAIN_FUNC9 201
param set-default PWM_MAIN_FUNC10 202
param set-default PWM_MAIN_FUNC11 203
param set-default PWM_MAIN_REV 256
param set-default FW_L1_PERIOD 12
param set-default FW_MAN_P_MAX 30