fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 06:30:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

control_allocator: generic motor configuration for standard vtols

Browse Source 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
This commit is contained in:
Beat Küng
2022-02-16 11:05:10 +01:00
parent b2dc9ee710
commit 76d8d8cae6
14 changed files with 66 additions and 46 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/module.yaml
+10 -17
View File
@@ -370,18 +370,6 @@ parameters:
instance_start: 0
default: 0
# Standard VTOL
CA_STDVTOL_N_P:
description:
short: Number of fixed wing (pusher/puller) motors
type: enum
values:
1: '1'
2: '2'
3: '3'
4: '4'
default: 1
# Mixer
mixer:
@@ -525,7 +513,7 @@ mixer:
title: 'Standard VTOL'
actuators:
- actuator_type: 'motor'
group_label: 'MC Motors'
group_label: 'Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
@@ -535,10 +523,15 @@ mixer:
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- actuator_type: 'motor'
group_label: 'FW Motors'
count: 'CA_STDVTOL_N_P'
item_label_prefix: 'FW Motor ${i}'
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'