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Allocation: add A-tail servo type

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-03 18:44:52 +02:00
committed by Beat Küng
parent f454dcef6b
commit c6d1b1f50f
3 changed files with 23 additions and 14 deletions
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src/modules/control_allocator/module.yaml
+10
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@@ -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']