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control_allocator: set default control surface type to (not set)

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Before it was set to left aileron, but the torque values were all 0.
This commit is contained in:
Beat Küng
2022-08-12 09:43:12 +02:00
parent 720cf5a485
commit 923a90d78b
4 changed files with 11 additions and 1 deletions
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ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+2
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@@ -76,6 +76,8 @@ param set-default CA_ROTOR4_AZ 0.0
param set-default CA_ROTOR4_PX 0.2 param set-default CA_ROTOR4_PX 0.2
param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0 param set-default CA_SV_CS2_TRQ_P 1.0
ROMFS/px4fmu_common/init.d/airframes/13030_generic_vtol_quad_tiltrotor
+2
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@@ -51,6 +51,8 @@ param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05 param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR3_TILT 4 param set-default CA_ROTOR3_TILT 4
param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0 param set-default CA_SV_CS2_TRQ_P 1.0
ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+1
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@@ -14,6 +14,7 @@ param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR_COUNT 1
param set-default CA_ROTOR0_PX 0.3 param set-default CA_ROTOR0_PX 0.3
param set-default CA_SV_CS_COUNT 4 param set-default CA_SV_CS_COUNT 4
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS0_TRQ_R -0.5 param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS1_TRQ_R 0.5 param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TYPE 2
src/modules/control_allocator/module.yaml
+6 -1
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@@ -255,6 +255,7 @@ parameters:
short: Control Surface ${i} type short: Control Surface ${i} type
type: enum type: enum
values: values:
0: (Not set)
1: Left Aileron 1: Left Aileron
2: Right Aileron 2: Right Aileron
3: Elevator 3: Elevator
@@ -269,7 +270,7 @@ parameters:
12: Custom 12: Custom
num_instances: *max_num_servos num_instances: *max_num_servos
instance_start: 0 instance_start: 0
default: 1 default: 0
CA_SV_CS${i}_TRQ_R: CA_SV_CS${i}_TRQ_R:
description: description:
@@ -492,6 +493,10 @@ mixer:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive. # Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# By default the scale is set to 1/N, where N is the amount of actuators with an effect on # By default the scale is set to 1/N, where N is the amount of actuators with an effect on
# the corresponding axis. With that we are using all the available servo moving range. # the corresponding axis. With that we are using all the available servo moving range.
0: # Not set
- { 'disabled': True, 'default': 0.0 } # roll
- { 'disabled': True, 'default': 0.0 } # pitch
- { 'disabled': True, 'default': 0.0 } # yaw
1: # Left Aileron 1: # Left Aileron
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch - { 'hidden': True, 'default': 0.0 } # pitch