Commander/VTOL: move VT_FW_PERM_STAB param to commander and not pass through as flag

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -31,6 +31,8 @@ param set-default BAT1_R_INTERNAL 0.0025
 param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027
 
+param set-default COM_FW_PERM_STAB 1
+
 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
 param set-default EKF2_TAU_VEL 0.5
@@ -131,7 +133,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 

msg/vehicle_status.msg

@@ -75,7 +75,6 @@ uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
 
 bool is_vtol				# True if the system is VTOL capable
 bool is_vtol_tailsitter                 # True if the system performs a 90° pitch down rotation during transition from MC to FW
-bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode
 bool in_transition_mode			# True if VTOL is doing a transition
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 

msg/vtol_vehicle_status.msg

@@ -11,4 +11,3 @@ bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
 bool vtol_transition_failsafe		# vtol in transition failsafe mode
-bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode

src/lib/parameters/param_translation.cpp

@@ -174,6 +174,14 @@ bool param_modify_on_import(bson_node_t node)
 		if (strcmp("IMU_GYRO_NF_BW", node->name) == 0) {
 			strcpy(node->name, "IMU_GYRO_NF0_BW");
 			PX4_INFO("copying %s -> %s", "IMU_GYRO_NF_BW", "IMU_GYRO_NF0_BW");
+		}
+	}
+
+	// 2022-01-20: translate VT_FW_PERM_STAB to COM_FW_PERM_STAB
+	{
+		if (strcmp("VT_FW_PERM_STAB", node->name) == 0) {
+			strcpy(node->name, "COM_FW_PERM_STAB");
+			PX4_INFO("copying %s -> %s", "VT_FW_PERM_STAB", "COM_FW_PERM_STAB");
 			return true;
 		}
 	}

src/modules/commander/Commander.cpp

@@ -2232,7 +2232,6 @@ Commander::run()
 		if (_vtol_vehicle_status_sub.updated()) {
 			/* vtol status changed */
 			_vtol_vehicle_status_sub.copy(&_vtol_status);
-			_status.vtol_fw_permanent_stab = _vtol_status.fw_permanent_stab;
 
 			/* Make sure that this is only adjusted if vehicle really is of type vtol */
 			if (is_vtol(_status)) {
@@ -3449,11 +3448,9 @@ Commander::update_control_mode()
 bool
 Commander::stabilization_required()
 {
-	return (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||		// is a rotary wing, or
-		_status.vtol_fw_permanent_stab || 	// is a VTOL in fixed wing mode and stabilisation is on, or
-		(_vtol_status.vtol_in_trans_mode && 	// is currently a VTOL transitioning AND
-		 _status.vehicle_type ==
-		 vehicle_status_s::VEHICLE_TYPE_FIXED_WING));	// is a fixed wing, ie: transitioning back to rotary wing mode
+	// is a rotary-wing or fixed-wing/VTOL in fixed-wing mode and stabilistion is on
+	return (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ||
+		_param_com_fw_perm_stab.get());
 }
 
 void

src/modules/commander/Commander.hpp

@@ -227,6 +227,7 @@ private:
 
 		// Quadchute
 		(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act,
+		(ParamBool<px4::params::COM_FW_PERM_STAB>) _param_com_fw_perm_stab,
 
 		// Offboard
 		(ParamFloat<px4::params::COM_OF_LOSS_T>) _param_com_of_loss_t,

src/modules/commander/commander_params.c

@@ -1077,3 +1077,15 @@ PARAM_DEFINE_INT32(COM_ARM_SDCARD, 1);
  * @unit m/s
  */
 PARAM_DEFINE_FLOAT(COM_WIND_WARN, -1.f);
+
+/**
+ * Permanent stabilization in fixed-wing mode
+ *
+ * If set to true this parameter will cause permanent attitude stabilization
+ * for fixed-wing planes or VTOLs in fixed-wing mode.
+ * This parameter has been introduced for pure convenience sake.
+ *
+ * @boolean
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FW_PERM_STAB, 0);

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -235,8 +235,6 @@ VtolAttitudeControl::parameters_update()
 	if (_vtol_type != nullptr) {
 		_vtol_type->parameters_update();
 	}
-
-	_vtol_vehicle_status.fw_permanent_stab = _param_vt_fw_perm_stab.get();
 }
 
 void

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -230,7 +230,6 @@ private:
 	void 		parameters_update();
 
 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::VT_TYPE>) _param_vt_type,
-		(ParamBool<px4::params::VT_FW_PERM_STAB>) _param_vt_fw_perm_stab
+		(ParamInt<px4::params::VT_TYPE>) _param_vt_type
 	)
 };

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -51,17 +51,6 @@
  */
 PARAM_DEFINE_INT32(VT_IDLE_PWM_MC, 900);
 
-/**
- * Permanent stabilization in fw mode
- *
- * If set to one this parameter will cause permanent attitude stabilization in fw mode.
- * This parameter has been introduced for pure convenience sake.
- *
- * @boolean
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_INT32(VT_FW_PERM_STAB, 0);
-
 /**
  * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2)
  *