The device path is needed to apply PWM limits on the motors that are not
used for FW flight (switch them off). With this parameter the device path can be set
to either IO or FMU, depending on whether the motors are on the IO or FMU port.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
As some tiltrotor systems need a certain tilt angle of their motors in oder to spin up freely,
this commit introduces an additional parameter VT_TILT_SPINUP and sets the motor tilt to
this value if disarmed or within 1s since arming.
The spinup consists of 2 phases:
1st phase fixed tilt (duration hardcoded to 1s)
2nd phase transition from spinup tilt to multicopter tilt (hardcoded to 0.5s)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This change is necessary to give the pilot the ability to switch VTOL state
even if for some reason no attitude sp are published anymore.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- remove gloabl variable and instead give back forward_thrust from function
- give back increased vertical thrust from fct thrust_compensation_for_tilt()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
-move pusher assist functionality into vtol_type class and adapt it to also
work for tiltrotor VTOLs (pitch rotors down to accelerate forward)
-for tiltrotor: compensate for lost lift due to tilt by increasing the throttle
-enable pusher / tiltassist also in altitude mode
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* FW attitude controller, FW position controller and VTOL attitude controller subscribe to airspeed_validated topic
* add possibility to switch off the airspeed valid checks
* remove airspeed valid checks from commander
* clean up of VTOL transition logic
* Airspeed Selector: remove dynamic allocation of airspeed validators (depending on number of connected sensors) but do it statically for the maximum number allowed. Check for number of connected sensors not only during start up, but always when vehicle is disarmed.
* Airspeed Selector: change work queue from lp to att_pos_ctrl as this module is safety-critical
* add airspeed selector to px4_fmu-v2 defaults
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
- 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>
Silvan Fuhrer