diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert index 7d0d056caa..331668ab53 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil index a9046c6aff..730d43878e 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil +++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol index 85e55bbe9d..bea42c30f3 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 index 583a045696..fa4dba3282 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/airframes/13002_firefly6 @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence index 7cc6fc4d85..dd0db60c2d 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13012_convergence +++ b/ROMFS/px4fmu_common/init.d/airframes/13012_convergence @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 608038060a..709670172f 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter index d235153980..ecc0c49474 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter @@ -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 diff --git a/ROMFS/px4fmu_common/init.d/airframes/13201_swan_quad_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13201_swan_quad_tailsitter index f32802f9ac..24905d82ba 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13201_swan_quad_tailsitter +++ b/ROMFS/px4fmu_common/init.d/airframes/13201_swan_quad_tailsitter @@ -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 diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp index 7eddfa9d31..9672f1e36c 100644 --- a/src/lib/parameters/param_translation.cpp +++ b/src/lib/parameters/param_translation.cpp @@ -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; } diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index c92e29edeb..cb952e6bb2 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -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)' diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 20cd0d0b2d..a0e6aa4532 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -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; diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index 954737b833..5946e0f254 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -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; diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 84e6e4adc6..4cf85c83f1 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -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; diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 035426ac07..be9eed8c62 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -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 diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index b8dbd554d7..8f9615346e 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -274,7 +274,7 @@ protected: float _dt{0.0025f}; // time step [s] DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams, - (ParamBool) _param_vt_elev_mc_lock, + (ParamBool) _param_vt_mc_cs_lock, (ParamFloat) _param_vt_fw_min_alt, (ParamFloat) _param_vt_fw_alt_err, (ParamInt) _param_vt_fw_qc_p,