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ROMFS: MAV_TYPE cleanup

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- set MAV_TYPE as a parameter default per vehicle type, or airframe if necessary
 - cleanup MAV_TYPE param metadata and commander helper to only include
what's currently used in PX4
This commit is contained in:
Daniel Agar
2022-03-17 09:28:10 -04:00
parent cde7b1bc41
commit 36e6527013
69 changed files with 107 additions and 216 deletions
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src/modules/commander/commander_helper.cpp
+4 -8
View File
@@ -69,16 +69,15 @@
#define VEHICLE_TYPE_COAXIAL 3
#define VEHICLE_TYPE_HELICOPTER 4
#define VEHICLE_TYPE_GROUND_ROVER 10
#define VEHICLE_TYPE_BOAT 11
#define VEHICLE_TYPE_SUBMARINE 12
#define VEHICLE_TYPE_HEXAROTOR 13
#define VEHICLE_TYPE_OCTOROTOR 14
#define VEHICLE_TYPE_TRICOPTER 15
#define VEHICLE_TYPE_VTOL_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TILTROTOR 21
#define VEHICLE_TYPE_VTOL_RESERVED2 22
#define VEHICLE_TYPE_VTOL_RESERVED3 23
#define VEHICLE_TYPE_VTOL_RESERVED4 24
#define VEHICLE_TYPE_VTOL_RESERVED5 25
#define VEHICLE_TYPE_VTOL_RESERVED2 22 // VTOL standard
#define BLINK_MSG_TIME 700000 // 3 fast blinks (in us)
@@ -101,10 +100,7 @@ bool is_vtol(const vehicle_status_s &current_status)
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED3 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED4 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED5);
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2);
}
bool is_vtol_tailsitter(const vehicle_status_s &current_status)
src/modules/mavlink/mavlink_params.c
+7 -18
View File
@@ -75,39 +75,28 @@ PARAM_DEFINE_INT32(MAV_SIK_RADIO_ID, 0);
/**
* MAVLink airframe type
*
* @min 1
* @max 27
* @min 0
* @max 22
* @value 0 Generic micro air vehicle
* @value 1 Fixed wing aircraft
* @value 2 Quadrotor
* @value 3 Coaxial helicopter
* @value 4 Normal helicopter with tail rotor
* @value 5 Ground installation
* @value 6 Operator control unit / ground control station
* @value 7 Airship, controlled
* @value 8 Free balloon, uncontrolled
* @value 9 Rocket
* @value 10 Ground rover
* @value 11 Surface vessel, boat, ship
* @value 12 Submarine
* @value 13 Hexarotor
* @value 14 Octorotor
* @value 15 Tricopter
* @value 16 Flapping wing
* @value 17 Kite
* @value 18 Onboard companion controller
* @value 19 Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
* @value 20 Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
* @value 21 Tiltrotor VTOL
* @value 22 VTOL reserved 2
* @value 23 VTOL reserved 3
* @value 24 VTOL reserved 4
* @value 25 VTOL reserved 5
* @value 26 Onboard gimbal
* @value 27 Onboard ADSB peripheral
* @value 19 VTOL Tailsitter Duo
* @value 20 VTOL Tailsitter Quad
* @value 21 VTOL Tiltrotor
* @value 22 VTOL Standard (quadplane)
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_TYPE, 2);
PARAM_DEFINE_INT32(MAV_TYPE, 0);
/**
* Use/Accept HIL GPS message even if not in HIL mode