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feat(actuators): Control Flaps from AUX channel (#26913)

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* feat(rc): flaps via AUX channel

* docs(actuators): add flaps and spoilers from RC

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* docs(actuators): Update docs/en/payloads/generic_actuator_control.md

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

* docs(actuators): move flaps setup docs

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Nick
2026-04-02 11:48:44 +02:00
committed by GitHub
parent 0b621009d5
commit 76eca4b7a4
5 changed files with 78 additions and 8 deletions
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src/modules/fw_rate_control/FixedwingRateControl.cpp
+42 -6
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@@ -469,9 +469,35 @@ void FixedwingRateControl::Run()
// Flaps control
float flaps_control = 0.f; // default to no flaps
/* map flaps by default to manual if valid */
if (PX4_ISFINITE(_manual_control_setpoint.flaps)) {
flaps_control = math::max(_manual_control_setpoint.flaps, 0.f); // do not consider negative switch settings
switch (_param_fw_flaps_man.get()) { // do not consider negative switch settings
case 0:
break;
case 1:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? math::max(_manual_control_setpoint.aux1, 0.f) : 0.f;
break;
case 2:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux2) ? math::max(_manual_control_setpoint.aux2, 0.f) : 0.f;
break;
case 3:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux3) ? math::max(_manual_control_setpoint.aux3, 0.f) : 0.f;
break;
case 4:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux4) ? math::max(_manual_control_setpoint.aux4, 0.f) : 0.f;
break;
case 5:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.aux5) ? math::max(_manual_control_setpoint.aux5, 0.f) : 0.f;
break;
case 6:
flaps_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? math::max(_manual_control_setpoint.flaps, 0.f) : 0.f;
break;
}
normalized_unsigned_setpoint_s flaps_setpoint;
@@ -482,19 +508,29 @@ void FixedwingRateControl::Run()
// Spoilers control
float spoilers_control = 0.f; // default to no spoilers
switch (_param_fw_spoilers_man.get()) {
switch (_param_fw_spoilers_man.get()) { // do not consider negative switch settings
case 0:
break;
case 1:
// do not consider negative switch settings
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? math::max(_manual_control_setpoint.flaps, 0.f) : 0.f;
break;
case 2:
// do not consider negative switch settings
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? math::max(_manual_control_setpoint.aux1, 0.f) : 0.f;
break;
case 3:
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux2) ? math::max(_manual_control_setpoint.aux2, 0.f) : 0.f;
break;
case 4:
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux3) ? math::max(_manual_control_setpoint.aux3, 0.f) : 0.f;
break;
case 5:
spoilers_control = PX4_ISFINITE(_manual_control_setpoint.aux4) ? math::max(_manual_control_setpoint.aux4, 0.f) : 0.f;
break;
}
normalized_unsigned_setpoint_s spoilers_setpoint;
src/modules/fw_rate_control/FixedwingRateControl.hpp
+2 -1
View File
@@ -213,7 +213,8 @@ private:
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
(ParamInt<px4::params::FW_FLAPS_MAN>) _param_fw_flaps_man
)
RateControl _rate_control; ///< class for rate control calculations
src/modules/fw_rate_control/fw_rate_control_params.yaml
+18
View File
@@ -326,6 +326,24 @@ parameters:
0: Disabled
1: Flaps channel
2: Aux1
3: Aux2
4: Aux3
5: Aux4
6: Aux5
default: 0
FW_FLAPS_MAN:
description:
short: Flap input in manual flight
long: Chose source for manual setting of flaps in manual flight modes.
type: enum
values:
0: Disabled
1: Aux1
2: Aux2
3: Aux3
4: Aux4
5: Aux5
6: Flaps channel
default: 0
FW_ACRO_YAW_EN:
description: