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Allocation: add SteeringWheel type control surface

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Directly use yaw controls for it, and don't add it to the allocation matrix,
as that would have an effect on rudder scaling if the wheel also would have
a yaw effectiveness.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-08 13:28:17 +02:00
committed by Beat Küng
parent 9e18b351bc
commit ffb8fb4383
6 changed files with 32 additions and 11 deletions
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src/modules/control_allocator/module.yaml
+5
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@@ -271,6 +271,7 @@ parameters:
13: Left A-tail
14: Right A-tail
15: Single Channel Aileron
16: Steering Wheel
num_instances: *max_num_servos
instance_start: 0
default: 0
@@ -544,6 +545,10 @@ mixer:
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
16: # Steering Wheel
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # 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']