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VTOL: rework forward actuation assist

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-allow positive pitch offsets in hover
-add param for min pitch during LAND

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-06 11:27:19 -04:00
committed by Daniel Agar
parent f0de88fada
commit 4e3fa7cf35
8 changed files with 65 additions and 29 deletions
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src/lib/parameters/param_translation.cpp
+9 -1
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@@ -186,6 +186,15 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2021-07-12: translate VT_DWN_PITCH_MAX to VT_PITCH_MIN
{
if (strcmp("VT_DWN_PITCH_MAX", node->name) == 0) {
strcpy(node->name, "VT_PITCH_MIN");
node->d *= -1;
PX4_INFO("copying and inverting sign %s -> %s", "VT_DWN_PITCH_MAX", "VT_PITCH_MIN");
}
}
// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
if (node->type != BSON_INT32) {
@@ -193,7 +202,6 @@ bool param_modify_on_import(bson_node_t node)
}
int64_t *ivalue = &node->i;
const char *cal_id_params[] = {
"CAL_ACC0_ID",
"CAL_GYRO0_ID",