From b56e7a036cf1b1219ecfdd41db3c3a03189ff085 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 27 Mar 2023 16:48:30 +0200 Subject: [PATCH] control_allocator: allow for only 2 swash plate servos This is required to support fixed pitch propeller helicopters that have no collective but only cyclic pitch with two degrees of freedom and hence only two servos. The amount of thrust in the body z axis is then controlled using the motor speed which makes particularly sense on coaxial helicopters that need to control yaw with changing motor speeds already. --- src/modules/control_allocator/module.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index c80a5fa15b..97c9fbe8dc 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -416,6 +416,7 @@ parameters: short: Number of swash plates servos type: enum values: + 2: '2' 3: '3' 4: '4' default: 3