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vtol_att_control: use VT_MOT_ID instead of VT_MOT_COUNT

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- VT_MOT_COUNT assumed that motors were always the first outputs. This
does not have to be true always. VT_MOT_ID allows to specify precisely how
many motors we have for hovering and to which channel they are connected.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-06-27 20:14:10 +02:00
committed by Lorenz Meier
parent 2c74216028
commit afd95b14cf
5 changed files with 36 additions and 41 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+3 -11
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@@ -65,10 +65,10 @@ VtolAttitudeControl::VtolAttitudeControl()
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/
_params.idle_pwm_mc = PWM_DEFAULT_MIN;
_params.vtol_motor_count = 0;
_params.vtol_motor_id = 0;
_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
_params_handles.vtol_motor_id = param_find("VT_MOT_ID");
_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
@@ -269,7 +269,7 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);
/* vtol motor count */
param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count);
param_get(_params_handles.vtol_motor_id, &_params.vtol_motor_id);
/* vtol fw permanent stabilization */
param_get(_params_handles.vtol_fw_permanent_stab, &l);
@@ -326,14 +326,6 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.diff_thrust_scale, &v);
_params.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
// standard vtol always needs to turn all mc motors off when going into fixed wing mode
// normally the parameter fw_motors_off can be used to specify this, however, since historically standard vtol code
// did not use the interface of the VtolType class to disable motors we will have users flying around with a wrong
// parameter value. Therefore, explicitly set it here such that all motors will be disabled as expected.
if (static_cast<vtol_type>(_params.vtol_type) == vtol_type::STANDARD) {
_params.fw_motors_off = 12345678;
}
// make sure parameters are feasible, require at least 1 m/s difference between transition and blend airspeed
_params.airspeed_blend = math::min(_params.airspeed_blend, _params.transition_airspeed - 1.0f);