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added tiltrotor attitude control class
This commit is contained in:
tumbili
@@ -0,0 +1,357 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tiltrotor.cpp
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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*
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*/
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#include "tiltrotor.h"
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#include "vtol_att_control_main.h"
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#define ARSP_BLEND_START 8.0f // airspeed at which we start blending mc/fw controls
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Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
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VtolType(attc),
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flag_max_mc(true),
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_tilt_control(0.0f),
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_roll_weight_mc(1.0f)
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{
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_vtol_schedule.flight_mode = MC_MODE;
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_vtol_schedule.transition_start = 0;
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_params_handles_tiltrotor.front_trans_dur = param_find("VT_F_TRANS_DUR");
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_params_handles_tiltrotor.back_trans_dur = param_find("VT_B_TRANS_DUR");
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_params_handles_tiltrotor.tilt_mc = param_find("VT_TILT_MC");
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_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
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_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
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_params_handles_tiltrotor.airspeed_trans = param_find("VT_ARSP_TRANS");
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_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
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}
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Tiltrotor::~Tiltrotor()
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{
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}
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int
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Tiltrotor::parameters_update()
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{
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float v;
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int l;
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/* vtol duration of a front transition */
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param_get(_params_handles_tiltrotor.front_trans_dur, &v);
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_params_tiltrotor.front_trans_dur = math::constrain(v,1.0f,5.0f);
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/* vtol duration of a back transition */
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param_get(_params_handles_tiltrotor.back_trans_dur, &v);
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_params_tiltrotor.back_trans_dur = math::constrain(v,0.0f,5.0f);
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/* vtol tilt mechanism position in mc mode */
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param_get(_params_handles_tiltrotor.tilt_mc, &v);
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_params_tiltrotor.tilt_mc = v;
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/* vtol tilt mechanism position in transition mode */
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param_get(_params_handles_tiltrotor.tilt_transition, &v);
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_params_tiltrotor.tilt_transition = v;
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/* vtol tilt mechanism position in fw mode */
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param_get(_params_handles_tiltrotor.tilt_fw, &v);
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_params_tiltrotor.tilt_fw = v;
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/* vtol airspeed at which it is ok to switch to fw mode */
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param_get(_params_handles_tiltrotor.airspeed_trans, &v);
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_params_tiltrotor.airspeed_trans = v;
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/* vtol lock elevons in multicopter */
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param_get(_params_handles_tiltrotor.elevons_mc_lock, &l);
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_params_tiltrotor.elevons_mc_lock = l;
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return OK;
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}
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void Tiltrotor::update_vtol_state()
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{
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parameters_update();
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/* simple logic using a two way switch to perform transitions.
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* after flipping the switch the vehicle will start tilting rotors, picking up
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* forward speed. After the vehicle has picked up enough speed the rotors are tilted
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* forward completely. For the backtransition the motors simply rotate back.
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*/
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if (_manual_control_sp->aux1 < 0.0f && _vtol_schedule.flight_mode == MC_MODE) {
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// mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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_roll_weight_mc = 1.0f;
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} else if (_manual_control_sp->aux1 < 0.0f && _vtol_schedule.flight_mode == FW_MODE) {
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_vtol_schedule.flight_mode = TRANSITION_BACK;
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flag_max_mc = true;
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_vtol_schedule.transition_start = hrt_absolute_time();
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} else if (_manual_control_sp->aux1 >= 0.0f && _vtol_schedule.flight_mode == MC_MODE) {
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// instant of doeing a front-transition
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
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_vtol_schedule.transition_start = hrt_absolute_time();
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1 && _manual_control_sp->aux1 > 0.0f) {
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// check if we have reached airspeed to switch to fw mode
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if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans) {
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
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flag_max_mc = true;
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_vtol_schedule.transition_start = hrt_absolute_time();
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2 && _manual_control_sp->aux1 > 0.0f) {
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if (_tilt_control >= _params_tiltrotor.tilt_fw) {
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_vtol_schedule.flight_mode = FW_MODE;
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_tilt_control = _params_tiltrotor.tilt_fw;
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1 && _manual_control_sp->aux1 < 0.0f) {
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// failsave into mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2 && _manual_control_sp->aux1 < 0.0f) {
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// failsave into mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK && _manual_control_sp->aux1 < 0.0f) {
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if (_tilt_control <= _params_tiltrotor.tilt_mc) {
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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flag_max_mc = false;
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK && _manual_control_sp->aux1 > 0.0f) {
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// failsave into fw mode
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_vtol_schedule.flight_mode = FW_MODE;
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_tilt_control = _params_tiltrotor.tilt_fw;
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}
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// tilt rotors if necessary
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update_transition_state();
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// map tiltrotor specific control phases to simple control modes
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switch(_vtol_schedule.flight_mode) {
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case MC_MODE:
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_vtol_mode = ROTARY_WING;
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break;
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case FW_MODE:
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_vtol_mode = FIXED_WING;
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break;
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case TRANSITION_FRONT_P1:
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case TRANSITION_FRONT_P2:
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case TRANSITION_BACK:
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_vtol_mode = TRANSITION;
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break;
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}
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}
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void Tiltrotor::update_mc_state()
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{
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// adjust max pwm for rear motors to spin up
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if (!flag_max_mc) {
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set_max_mc();
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flag_max_mc = true;
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}
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// set idle speed for rotary wing mode
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if (!flag_idle_mc) {
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set_idle_mc();
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flag_idle_mc = true;
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}
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}
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void Tiltrotor::process_mc_data()
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{
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fill_mc_att_control_output();
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}
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void Tiltrotor::update_fw_state()
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{
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/* in fw mode we need the rear motors to stop spinning, in backtransition
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* mode we let them spin in idle
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*/
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if (flag_max_mc) {
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if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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set_max_fw(1200);
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set_idle_mc();
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} else {
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set_max_fw(950);
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set_idle_fw();
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}
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flag_max_mc = false;
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}
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// adjust idle for fixed wing flight
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if (flag_idle_mc) {
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set_idle_fw();
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flag_idle_mc = false;
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}
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}
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void Tiltrotor::process_fw_data()
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{
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fill_fw_att_control_output();
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}
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void Tiltrotor::update_transition_state()
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{
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if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
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// tilt rotors forward up to certain angle
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if (_tilt_control <= _params_tiltrotor.tilt_transition) {
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_tilt_control = _params_tiltrotor.tilt_mc + fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur*1000000.0f);
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}
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// do blending of mc and fw controls
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if (_airspeed->true_airspeed_m_s >= ARSP_BLEND_START) {
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_roll_weight_mc = 1.0f - (_airspeed->true_airspeed_m_s - ARSP_BLEND_START) / (_params_tiltrotor.airspeed_trans - ARSP_BLEND_START);
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} else {
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// at low speeds give full weight to mc
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_roll_weight_mc = 1.0f;
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}
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_roll_weight_mc = math::constrain(_roll_weight_mc, 0.0f, 1.0f);
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
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_tilt_control = _params_tiltrotor.tilt_transition + fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(0.5f*1000000.0f);
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_roll_weight_mc = 0.0f;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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// tilt rotors forward up to certain angle
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float progress = (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur*1000000.0f);
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if (_tilt_control > _params_tiltrotor.tilt_mc) {
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_tilt_control = _params_tiltrotor.tilt_fw - fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc)*progress;
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}
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_roll_weight_mc = progress;
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}
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}
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void Tiltrotor::update_external_state()
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{
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}
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/**
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* Prepare message to acutators with data from mc attitude controller.
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*/
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void Tiltrotor::fill_mc_att_control_output()
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{
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_actuators_out_0->control[0] = _actuators_mc_in->control[0];
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_actuators_out_0->control[1] = _actuators_mc_in->control[1];
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_actuators_out_0->control[2] = _actuators_mc_in->control[2];
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_actuators_out_0->control[3] = _actuators_mc_in->control[3];
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0] * (1.0f - _roll_weight_mc); //roll elevon
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_actuators_out_1->control[1] = (_actuators_fw_in->control[1] + _params->fw_pitch_trim)* (1.0f -_roll_weight_mc); //pitch elevon
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_actuators_out_1->control[4] = _tilt_control; // for tilt-rotor control
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}
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/**
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* Prepare message to acutators with data from fw attitude controller.
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*/
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void Tiltrotor::fill_fw_att_control_output()
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{
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/*For the first test in fw mode, only use engines for thrust!!!*/
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_actuators_out_0->control[0] = _actuators_mc_in->control[0] * _roll_weight_mc;
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_actuators_out_0->control[1] = _actuators_mc_in->control[1] * _roll_weight_mc;
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_actuators_out_0->control[2] = _actuators_mc_in->control[2] * _roll_weight_mc;
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_actuators_out_0->control[3] = _actuators_fw_in->control[3];
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/*controls for the elevons */
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0]; // roll elevon
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_actuators_out_1->control[1] = _actuators_fw_in->control[1] + _params->fw_pitch_trim; // pitch elevon
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// unused now but still logged
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_actuators_out_1->control[2] = _actuators_fw_in->control[2]; // yaw
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; // throttle
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_actuators_out_1->control[4] = _tilt_control;
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}
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/**
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* Kill rear motors for the FireFLY6 when in fw mode.
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*/
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void
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Tiltrotor::set_max_fw(unsigned pwm_value)
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{
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int ret;
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unsigned servo_count;
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char *dev = PWM_OUTPUT0_DEVICE_PATH;
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int fd = open(dev, 0);
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if (fd < 0) {err(1, "can't open %s", dev);}
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ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
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struct pwm_output_values pwm_values;
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memset(&pwm_values, 0, sizeof(pwm_values));
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for (int i = 0; i < _params->vtol_motor_count; i++) {
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if (i == 2 || i == 3) {
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pwm_values.values[i] = pwm_value;
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} else {
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pwm_values.values[i] = 2000;
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}
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pwm_values.channel_count = _params->vtol_motor_count;
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}
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ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
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if (ret != OK) {errx(ret, "failed setting max values");}
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close(fd);
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}
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void
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Tiltrotor::set_max_mc()
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{
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int ret;
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unsigned servo_count;
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char *dev = PWM_OUTPUT0_DEVICE_PATH;
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int fd = open(dev, 0);
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if (fd < 0) {err(1, "can't open %s", dev);}
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ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
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struct pwm_output_values pwm_values;
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memset(&pwm_values, 0, sizeof(pwm_values));
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for (int i = 0; i < _params->vtol_motor_count; i++) {
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pwm_values.values[i] = 2000;
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pwm_values.channel_count = _params->vtol_motor_count;
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}
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ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
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if (ret != OK) {errx(ret, "failed setting max values");}
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close(fd);
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}
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@@ -0,0 +1,110 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tiltrotor.h
|
||||
*
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef TILTROTOR_H
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||||
#define TILTROTOR_H
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||||
#include "vtol_type.h"
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||||
#include <systemlib/param/param.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
class Tiltrotor : public VtolType
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
Tiltrotor(VtolAttitudeControl * _att_controller);
|
||||
~Tiltrotor();
|
||||
|
||||
void update_vtol_state();
|
||||
void update_mc_state();
|
||||
void process_mc_data();
|
||||
void update_fw_state();
|
||||
void process_fw_data();
|
||||
void update_transition_state();
|
||||
void update_external_state();
|
||||
|
||||
private:
|
||||
|
||||
struct {
|
||||
float front_trans_dur;
|
||||
float back_trans_dur;
|
||||
float tilt_mc;
|
||||
float tilt_transition;
|
||||
float tilt_fw;
|
||||
float airspeed_trans;
|
||||
int elevons_mc_lock; // lock elevons in multicopter mode
|
||||
} _params_tiltrotor;
|
||||
|
||||
struct {
|
||||
param_t front_trans_dur;
|
||||
param_t back_trans_dur;
|
||||
param_t tilt_mc;
|
||||
param_t tilt_transition;
|
||||
param_t tilt_fw;
|
||||
param_t airspeed_trans;
|
||||
param_t elevons_mc_lock;
|
||||
} _params_handles_tiltrotor;
|
||||
|
||||
enum vtol_mode {
|
||||
MC_MODE = 0,
|
||||
TRANSITION_FRONT_P1,
|
||||
TRANSITION_FRONT_P2,
|
||||
TRANSITION_BACK,
|
||||
FW_MODE
|
||||
};
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; // indicates in which mode the vehicle is in
|
||||
hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
|
||||
}_vtol_schedule;
|
||||
|
||||
bool flag_max_mc;
|
||||
float _tilt_control;
|
||||
float _roll_weight_mc;
|
||||
|
||||
void fill_mc_att_control_output();
|
||||
void fill_fw_att_control_output();
|
||||
void set_max_mc();
|
||||
void set_max_fw(unsigned pwm_value);
|
||||
|
||||
int parameters_update();
|
||||
|
||||
};
|
||||
#endif
|
||||
@@ -0,0 +1,118 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tiltrotor_params.c
|
||||
* Parameters for vtol attitude controller.
|
||||
*
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/**
|
||||
* Duration of a front transition
|
||||
*
|
||||
* Time in seconds used for a transition
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 5
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR,3.0f);
|
||||
|
||||
/**
|
||||
* Duration of a back transition
|
||||
*
|
||||
* Time in seconds used for a back transition
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 5
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR,2.0f);
|
||||
|
||||
/**
|
||||
* Position of tilt servo in mc mode
|
||||
*
|
||||
* Position of tilt servo in mc mode
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TILT_MC,0.0f);
|
||||
|
||||
/**
|
||||
* Position of tilt servo in transition mode
|
||||
*
|
||||
* Position of tilt servo in transition mode
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TILT_TRANS,0.3f);
|
||||
|
||||
/**
|
||||
* Position of tilt servo in fw mode
|
||||
*
|
||||
* Position of tilt servo in fw mode
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TILT_FW,1.0f);
|
||||
|
||||
/**
|
||||
* Transition airspeed
|
||||
*
|
||||
* Airspeed at which we can switch to fw mode
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 20
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_ARSP_TRANS,10.0f);
|
||||
|
||||
/**
|
||||
* Lock elevons in multicopter mode
|
||||
*
|
||||
* If set to 1 the elevons are locked in multicopter mode
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK,0);
|
||||
Reference in New Issue
Block a user