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Allocation: add Single Channel Aileron to CS types

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This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-08 11:34:30 +02:00
committed by Beat Küng
parent c6d1b1f50f
commit 9e18b351bc
4 changed files with 18 additions and 1 deletions
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src/modules/control_allocator/module.yaml
+5
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@@ -270,6 +270,7 @@ parameters:
12: Custom
13: Left A-tail
14: Right A-tail
15: Single Channel Aileron
num_instances: *max_num_servos
instance_start: 0
default: 0
@@ -539,6 +540,10 @@ mixer:
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
15: # Single Channel Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']