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Enable motor controls for tailsitter VTOLs in fixed wing mode (enable Quad Tailsitters) (#20511)

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* Enable motor controls for fixed wing mode in tailsitters

This commit enable motor controls in fixed wing mode for tailsitters

This is needed for enabling quad tailsitters

* VTOL: differential thrust in FW: adapt params to be generic for all axes

Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Integrate differential control bits to three axis control

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
JaeyoungLim
2022-11-07 15:29:14 +01:00
committed by GitHub
parent 1fc1a81d8f
commit a9542baf3c
8 changed files with 85 additions and 18 deletions
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src/lib/parameters/param_translation.cpp
+9
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@@ -250,5 +250,14 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-07-18: translate VT_FW_DIFTHR_SC->VT_FW_DIFTHR_S_Y
{
if (strcmp("VT_FW_DIFTHR_SC", node->name) == 0) {
strcpy(node->name, "VT_FW_DIFTHR_S_Y");
PX4_INFO("copying %s -> %s", "VT_FW_DIFTHR_SC", "VT_FW_DIFTHR_S_Y");
return true;
}
}
return false;
}