fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 10:28:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

ControlAllocation: introduce convention for control surface deflection sign

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/module.yaml
+55 -23
View File
@@ -246,16 +246,16 @@ parameters:
short: Control Surface ${i} type
type: enum
values:
1: Elevator
2: Rudder
3: Left Elevon
4: Right Elevon
5: Left V-Tail
6: Right V-Tail
7: Left Flaps
8: Right Flaps
9: Left Aileron
10: Right Aileron
1: Left Aileron
2: Right Aileron
3: Elevator
4: Rudder
5: Left Elevon
6: Right Elevon
7: Left V-Tail
8: Right V-Tail
9: Left Flap
10: Right Flap
11: Airbrakes
12: Custom
num_instances: *max_num_servos
@@ -423,23 +423,55 @@ mixer:
- select_identifier: 'servo-type' # restrict torque based on servo type
apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw']
items:
# TODO
1: # Elevator
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# By default the scale is set to 1/N, where N is the amount of actuators with an effect on
# the corresponding axis. With that we are using all the available servo moving range.
1: # Left Aileron
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
2: # Right Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
3: # Elevator
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
2: # Rudder
4: # Rudder
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
3: # Left elevon
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'min': -1.0, 'max': 0.0, 'default': -1.0 } # pitch
5: # Left Elevon
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
4: # Right elevon
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
6: # Right Elevon
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
7: # Left V Tail
- { '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 } # yaw
8: # Right V Tail
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
- 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']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# No rules for control surfaces on tailsitter beside elevons.
5: # Left Elevon (Tailsitter --> wing vertical, so affects pitch and yaw)
- { '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 } # yaw
6: # Right Elevon (Tailsitter -->wing vertical, so affects pitch and yaw)
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
config:
param: CA_AIRFRAME
@@ -604,16 +636,16 @@ mixer:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type'
identifier: 'servo-type-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
identifier: 'servo-torque-roll'
identifier: 'servo-torque-roll-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
identifier: 'servo-torque-pitch'
identifier: 'servo-torque-pitch-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
identifier: 'servo-torque-yaw'
identifier: 'servo-torque-yaw-tailsitter'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
parameters: