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VTOL: rename VT_ELEV_MC_LOCK to VT_MC_CS_LOCK

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It doesn't only lock elevons but all kind of control surfaces, so lets
have the param name generic (CS for control surface)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-07-18 10:09:13 +02:00
parent 87c521ddcc
commit 7bf934de50
15 changed files with 27 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert
+1 -1
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@@ -8,7 +8,7 @@
. ${R}etc/init.d/rc.vtol_defaults
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
param set-default VT_FW_DIFTHR_SC 0.3
ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+1 -1
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@@ -18,7 +18,7 @@
. ${R}etc/init.d/rc.vtol_defaults
param set UAVCAN_ENABLE 0
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
param set-default VT_FW_DIFTHR_EN 1
ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
+1 -1
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@@ -34,7 +34,7 @@ param set-default MC_YAWRATE_P 0.22
param set-default MC_YAWRATE_I 0.02
param set-default VT_IDLE_PWM_MC 1080
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_MOT_ID 12
param set-default VT_TYPE 0
ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
+1 -1
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@@ -44,7 +44,7 @@ param set-default VT_FW_MOT_OFFID 56
param set-default VT_TILT_MC 0.08
param set-default VT_TILT_TRANS 0.5
param set-default VT_TILT_FW 0.9
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_TYPE 1
set MIXER firefly6
ROMFS/px4fmu_common/init.d/airframes/13012_convergence
+2 -2
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@@ -64,7 +64,7 @@ param set-default VT_MOT_ID 123
param set-default VT_TILT_TRANS 0.45
param set-default VT_TRANS_MIN_TM 1.2
param set-default VT_TRANS_P2_DUR 1.3
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_TYPE 1
set MIXER vtol_convergence
@@ -74,4 +74,4 @@ then
set PWM_OUT 1234
else
set PWM_OUT 3456
fi
fi
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
+1 -1
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@@ -86,7 +86,7 @@ param set-default VT_ARSP_BLEND 10
param set-default VT_ARSP_TRANS 21
param set-default VT_B_DEC_MSS 1.5
param set-default VT_B_TRANS_DUR 12
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_FWD_THRUST_SC 1.2
param set-default VT_FW_MOT_OFFID 5678
param set-default VT_F_TR_OL_TM 8
ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+1 -1
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@@ -21,7 +21,7 @@
param set-default MAV_TYPE 19
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_MOT_COUNT 2
param set-default VT_TYPE 0
ROMFS/px4fmu_common/init.d/airframes/13201_swan_quad_tailsitter
+1 -1
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@@ -32,7 +32,7 @@ param set-default CA_ROTOR3_KM -0.05
#min pwm (1100)
#controller tuning
param set-default VT_ELEV_MC_LOCK 0
param set-default VT_MC_CS_LOCK 0
param set-default VT_TYPE 0
src/lib/parameters/param_translation.cpp
+9
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@@ -255,5 +255,14 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-07-18: translate VT_ELEV_MC_LOCK->VT_MC_CS_LOCK
{
if (strcmp("VT_ELEV_MC_LOCK", node->name) == 0) {
strcpy(node->name, "VT_MC_CS_LOCK");
PX4_INFO("copying %s -> %s", "VT_ELEV_MC_LOCK", "VT_MC_CS_LOCK");
return true;
}
}
return false;
}
src/modules/control_allocator/module.yaml
+3 -3
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@@ -644,7 +644,7 @@ mixer:
label: 'Trim'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
name: VT_MC_CS_LOCK
3: # Tiltrotor VTOL
title: 'Tiltrotor VTOL'
@@ -685,7 +685,7 @@ mixer:
label: 'Trim'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
name: VT_MC_CS_LOCK
- actuator_type: 'servo'
group_label: 'Tilt Servos'
count: 'CA_SV_TL_COUNT'
@@ -738,7 +738,7 @@ mixer:
label: 'Trim'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
name: VT_MC_CS_LOCK
5: # Rover (Ackermann)
title: 'Rover (Ackermann)'
src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -341,9 +341,9 @@ void Standard::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
// FW out = 0, other than roll and pitch depending on elevon lock
fw_out[actuator_controls_s::INDEX_ROLL] = _param_vt_elev_mc_lock.get() ? 0 :
fw_out[actuator_controls_s::INDEX_ROLL] = _param_vt_mc_cs_lock.get() ? 0 :
fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = _param_vt_elev_mc_lock.get() ? 0 :
fw_out[actuator_controls_s::INDEX_PITCH] = _param_vt_mc_cs_lock.get() ? 0 :
fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = 0;
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
src/modules/vtol_att_control/tailsitter.cpp
+1 -1
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@@ -358,7 +358,7 @@ void Tailsitter::fill_actuator_outputs()
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
}
if (_param_vt_elev_mc_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
if (_param_vt_mc_cs_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
src/modules/vtol_att_control/tiltrotor.cpp
+1 -1
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@@ -518,7 +518,7 @@ void Tiltrotor::fill_actuator_outputs()
// Fixed wing output
fw_out[actuator_controls_s::INDEX_COLLECTIVE_TILT] = _tilt_control;
if (_param_vt_elev_mc_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
if (_param_vt_mc_cs_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
fw_out[actuator_controls_s::INDEX_YAW] = 0;
src/modules/vtol_att_control/vtol_att_control_params.c
+1 -1
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@@ -73,7 +73,7 @@ PARAM_DEFINE_INT32(VT_TYPE, 0);
* @boolean
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 1);
PARAM_DEFINE_INT32(VT_MC_CS_LOCK, 1);
/**
* Duration of a front transition
src/modules/vtol_att_control/vtol_type.h
+1 -1
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@@ -274,7 +274,7 @@ protected:
float _dt{0.0025f}; // time step [s]
DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
(ParamBool<px4::params::VT_ELEV_MC_LOCK>) _param_vt_elev_mc_lock,
(ParamBool<px4::params::VT_MC_CS_LOCK>) _param_vt_mc_cs_lock,
(ParamFloat<px4::params::VT_FW_MIN_ALT>) _param_vt_fw_min_alt,
(ParamFloat<px4::params::VT_FW_ALT_ERR>) _param_vt_fw_alt_err,
(ParamInt<px4::params::VT_FW_QC_P>) _param_vt_fw_qc_p,