From c6d1b1f50fe71373961455090060a3516cfd3a8d Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 3 Aug 2022 18:44:52 +0200 Subject: [PATCH] Allocation: add A-tail servo type Signed-off-by: Silvan Fuhrer --- .../init.d/airframes/13014_vtol_babyshark | 10 +++++----- .../init.d/airframes/2106_albatross | 17 ++++++++--------- src/modules/control_allocator/module.yaml | 10 ++++++++++ 3 files changed, 23 insertions(+), 14 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index 13027e7854..5302163f7c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -111,15 +111,15 @@ param set-default CA_ROTOR4_AX 1.0 param set-default CA_ROTOR4_AZ 0.0 param set-default CA_SV_CS_COUNT 3 -param set-default CA_SV_CS0_TYPE 1 -param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS0_TYPE 12 #custom type as combined aileron +param set-default CA_SV_CS0_TRQ_R 1.0 param set-default CA_SV_CS1_TRQ_P 0.5000 param set-default CA_SV_CS1_TRQ_R 0.0000 param set-default CA_SV_CS1_TRQ_Y -0.5000 -param set-default CA_SV_CS1_TYPE 8 +param set-default CA_SV_CS1_TYPE 13 param set-default CA_SV_CS2_TRQ_P 0.5000 param set-default CA_SV_CS2_TRQ_Y 0.5000 -param set-default CA_SV_CS2_TYPE 7 +param set-default CA_SV_CS2_TYPE 14 param set-default PWM_MAIN_FUNC1 201 param set-default PWM_MAIN_FUNC2 202 @@ -128,7 +128,7 @@ param set-default PWM_MAIN_FUNC4 203 param set-default PWM_MAIN_FUNC5 101 param set-default PWM_MAIN_FUNC6 102 param set-default PWM_MAIN_FUNC7 103 -param set-default PWM_MAIN_FUNC8 105 +param set-default PWM_MAIN_FUNC8 104 param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_DIS1 1500 diff --git a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross index c0c2983980..e918ea0f3c 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/2106_albatross +++ b/ROMFS/px4fmu_common/init.d/airframes/2106_albatross @@ -35,20 +35,19 @@ param set-default CA_AIRFRAME 1 param set-default CA_ROTOR_COUNT 1 param set-default CA_SV_CS_COUNT 7 param set-default CA_SV_CS0_TRQ_R -0.5000 -param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TYPE 1 #left aileron param set-default CA_SV_CS1_TRQ_R 0.5000 -param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TYPE 2 #right aileron param set-default CA_SV_CS2_TRQ_P 0.5000 -param set-default CA_SV_CS2_TRQ_Y 0.5000 -param set-default CA_SV_CS2_TYPE 7 +param set-default CA_SV_CS2_TRQ_Y -0.5000 +param set-default CA_SV_CS2_TYPE 13 #left A-tail param set-default CA_SV_CS3_TRQ_P 0.5000 -param set-default CA_SV_CS3_TRQ_Y -0.5000 -param set-default CA_SV_CS3_TYPE 8 +param set-default CA_SV_CS3_TRQ_Y 0.5000 +param set-default CA_SV_CS3_TYPE 14 #right A-tail param set-default CA_SV_CS4_TRQ_Y 1.0000 param set-default CA_SV_CS4_TYPE 12 -param set-default CA_SV_CS5_TYPE 9 -param set-default CA_SV_CS6_TYPE 10 -param set-default CA_SV_CS7_TYPE 0 +param set-default CA_SV_CS5_TYPE 9 #left flap +param set-default CA_SV_CS6_TYPE 10 #right flap param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_TIM1 50 diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml index ba6aed0cd3..dde56ad67f 100644 --- a/src/modules/control_allocator/module.yaml +++ b/src/modules/control_allocator/module.yaml @@ -268,6 +268,8 @@ parameters: 10: Right Flap 11: Airbrakes 12: Custom + 13: Left A-tail + 14: Right A-tail num_instances: *max_num_servos instance_start: 0 default: 0 @@ -529,6 +531,14 @@ mixer: - { 'hidden': True, 'default': 0.0 } # roll - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw + 13: # Left A Tail + - { 'hidden': True, 'default': 0.0 } # roll + - { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch + - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw + 14: # Right A Tail + - { '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 - 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']