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helicopter: add tail servo support

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as a separate CA_AIRFRAME, as the UI cannot switch between servo/motor.
This commit is contained in:
Beat Küng
2023-03-09 07:56:51 +01:00
parent bae413a332
commit 77d6c722a7
5 changed files with 46 additions and 10 deletions
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src/modules/control_allocator/module.yaml
+31 -2
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@@ -27,7 +27,8 @@ parameters:
7: Motors (6DOF)
8: Multirotor with Tilt
9: Custom
10: Helicopter
10: Helicopter (tail ESC)
11: Helicopter (tail Servo)
default: 0
CA_METHOD:
@@ -1058,7 +1059,7 @@ mixer:
advanced: true
identifier: 'servo-scale-spoiler'
10: # Helicopter
10: # Helicopter (tail ESC)
actuators:
- actuator_type: 'motor'
count: 1
@@ -1087,3 +1088,31 @@ mixer:
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME
11: # Helicopter (tail Servo)
actuators:
- actuator_type: 'motor'
count: 1
item_label_prefix: ['Rotor']
- actuator_type: 'servo'
item_label_prefix: ['Yaw tail Servo']
count: 1
- actuator_type: 'servo'
group_label: 'Swash plate servos'
count: 'CA_SP0_COUNT'
per_item_parameters:
extra:
- name: 'CA_SP0_ANG${i}'
label: 'Angle'
- name: 'CA_SP0_ARM_L${i}'
label: 'Arm Length (relative)'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
parameters:
- label: 'Yaw compensation scale based on collective pitch'
name: CA_HELI_YAW_CP_S
- label: 'Yaw compensation scale based on throttle'
name: CA_HELI_YAW_TH_S
- label: 'Main rotor turns counter-clockwise'
name: CA_HELI_YAW_CCW
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME