From 0e79cbf234ba633669bbc1e939b1722f5396dc11 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 18 Dec 2014 10:43:32 +0100 Subject: [PATCH 1/3] fixed startup for VTOL -> some variable names were changed lately --- ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 2 +- ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 2 +- ROMFS/px4fmu_common/init.d/rcS | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index bff971c0ff..8f7a28b973 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -9,7 +9,7 @@ sh /etc/init.d/rc.vtol_defaults set MIXER FMU_caipirinha_vtol -set PWM_OUTPUTS 12 +set PWM_OUT 12 set PWM_MAX 2000 set PWM_RATE 400 param set VTOL_MOT_COUNT 2 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 10ee5db9b4..6dc5a65db7 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE vtol -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # #Default controller parameters for MC diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5748fe2b52..14fc8d2b47 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -584,7 +584,7 @@ then sh /etc/init.d/rc.interface # Start standard vtol apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.vtol_apps fi From 669e1f96d8fed848d2fbe71d3a10adb749a5fcc4 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 18 Dec 2014 10:46:36 +0100 Subject: [PATCH 2/3] fixed parameter issue for VTOL so that parameter wiki tool can document them --- .../init.d/13001_caipirinha_vtol | 2 +- .../vtol_att_control_main.cpp | 2 +- .../vtol_att_control_params.c | 93 +++++++++++++++++-- 3 files changed, 86 insertions(+), 11 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index 8f7a28b973..fb31142fa0 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -13,4 +13,4 @@ set PWM_OUT 12 set PWM_MAX 2000 set PWM_RATE 400 param set VTOL_MOT_COUNT 2 -param set IDLE_PWM_MC 1080 +param set VTOL_IDLE_PWM_MC 1080 diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 24800cce89..de678a5b83 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -238,7 +238,7 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; - _params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC"); + _params_handles.idle_pwm_mc = param_find("VTOL_IDLE_PWM_MC"); _params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT"); _params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN"); _params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX"); diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 44157acba6..6a234a3bad 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -1,13 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vtol_att_control_params.c + * Parameters for vtol attitude controller. + * + * @author Roman Bapst + */ + #include -// number of engines +/** + * VTOL number of engines + * + * @min 1.0 + * @group VTOL Attitude Control + */ PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0); -// idle pwm in multicopter mode -PARAM_DEFINE_INT32(IDLE_PWM_MC,900); -// min airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2); -// max airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30); -// trim airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10); + +/** + * Idle speed of VTOL when in multicopter mode + * + * @min 900 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VTOL_IDLE_PWM_MC,900); + +/** + * Minimum airspeed in multicopter mode + * + * This is the minimum speed of the air flowing over the control surfaces. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2.0f); + +/** + * Maximum airspeed in multicopter mode + * + * This is the maximum speed of the air flowing over the control surfaces. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30.0f); + +/** + * Trim airspeed when in multicopter mode + * + * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10.0f); From f3b5b67eec258476480a225b6b835e46335003b4 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Thu, 18 Dec 2014 12:43:23 +0100 Subject: [PATCH 3/3] shortened parameter names to max 16 bytes --- ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 4 ++-- src/modules/vtol_att_control/vtol_att_control_main.cpp | 10 +++++----- src/modules/vtol_att_control/vtol_att_control_params.c | 10 +++++----- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index fb31142fa0..7e9a6d3dc8 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -12,5 +12,5 @@ set MIXER FMU_caipirinha_vtol set PWM_OUT 12 set PWM_MAX 2000 set PWM_RATE 400 -param set VTOL_MOT_COUNT 2 -param set VTOL_IDLE_PWM_MC 1080 +param set VT_MOT_COUNT 2 +param set VT_IDLE_PWM_MC 1080 diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index de678a5b83..958907d1ba 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -238,11 +238,11 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; - _params_handles.idle_pwm_mc = param_find("VTOL_IDLE_PWM_MC"); - _params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT"); - _params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN"); - _params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX"); - _params_handles.mc_airspeed_trim = param_find("VTOL_MC_AIRSPEED_TRIM"); + _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); + _params_handles.vtol_motor_count = param_find("VT_MOT_COUNT"); + _params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN"); + _params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX"); + _params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM"); /* fetch initial parameter values */ parameters_update(); diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 6a234a3bad..e21bccb0c7 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -46,7 +46,7 @@ * @min 1.0 * @group VTOL Attitude Control */ -PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0); +PARAM_DEFINE_INT32(VT_MOT_COUNT,0); /** * Idle speed of VTOL when in multicopter mode @@ -54,7 +54,7 @@ PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0); * @min 900 * @group VTOL Attitude Control */ -PARAM_DEFINE_INT32(VTOL_IDLE_PWM_MC,900); +PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900); /** * Minimum airspeed in multicopter mode @@ -64,7 +64,7 @@ PARAM_DEFINE_INT32(VTOL_IDLE_PWM_MC,900); * @min 0.0 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2.0f); +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f); /** * Maximum airspeed in multicopter mode @@ -74,7 +74,7 @@ PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2.0f); * @min 0.0 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30.0f); +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f); /** * Trim airspeed when in multicopter mode @@ -84,5 +84,5 @@ PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30.0f); * @min 0.0 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10.0f); +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);