Rename TRIM_ROLL/PITCH/YAW-> FW_TRIM_ROLL/PITCH/YAW

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -12,7 +12,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -16,7 +16,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -14,7 +14,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -26,7 +26,7 @@ param set-default NPFG_PERIOD 12
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.5
 param set-default FW_PR_I 0.5
-param set-default TRIM_PITCH -0.15
+param set-default FW_TRIM_PITCH -0.15
 
 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MIN -15

src/lib/parameters/param_translation.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2022 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2024 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -73,5 +73,26 @@ param_modify_on_import_ret param_modify_on_import(bson_node_t node)
 		}
 	}
 
+	// 2024-04-03: translate TRIM_ROLL/PITCH/YAW-> FW_TRIM_ROLL/PITCH/YAW
+	{
+		if (strcmp("TRIM_ROLL", node->name) == 0) {
+			strcpy(node->name, "FW_TRIM_ROLL");
+			PX4_INFO("copying %s -> %s", "TRIM_ROLL", "FW_TRIM_ROLL");
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+
+		if (strcmp("TRIM_PITCH", node->name) == 0) {
+			strcpy(node->name, "FW_TRIM_PITCH");
+			PX4_INFO("copying %s -> %s", "TRIM_PITCH", "FW_TRIM_PITCH");
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+
+		if (strcmp("TRIM_YAW", node->name) == 0) {
+			strcpy(node->name, "FW_TRIM_YAW");
+			PX4_INFO("copying %s -> %s", "TRIM_YAW", "FW_TRIM_YAW");
+			return param_modify_on_import_ret::PARAM_MODIFIED;
+		}
+	}
+
 	return param_modify_on_import_ret::PARAM_NOT_MODIFIED;
 }

src/modules/commander/CMakeLists.txt

@@ -57,7 +57,6 @@ px4_add_module(
 		level_calibration.cpp
 		lm_fit.cpp
 		mag_calibration.cpp
-		rc_calibration.cpp
 		Safety.cpp
 		UserModeIntention.cpp
 		worker_thread.cpp

src/modules/commander/Commander.cpp

@@ -1284,8 +1284,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				} else if ((int)(cmd.param4) == 2) {
 					/* RC trim calibration */
 					answer_command(cmd, vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED);
-					_vehicle_status.calibration_enabled = true;
-					_worker_thread.startTask(WorkerThread::Request::RCTrimCalibration);
+					mavlink_log_critical(&_mavlink_log_pub, "RC trim calibration is deprecated\t");
+					events::send(events::ID("commander_rc_trim_cal_denied"), events::Log::Critical,
+						     "RC trim calibration is deprecated");
 
 				} else if ((int)(cmd.param5) == 1) {
 					/* accelerometer calibration */

src/modules/commander/commander_params.c

@@ -41,48 +41,6 @@
  * @author Julian Oes <julian@px4.io>
  */
 
-/**
- * Roll trim
- *
- * The trim value is the actuator control value the system needs
- * for straight and level flight.
- *
- * @group Radio Calibration
- * @min -0.5
- * @max 0.5
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
-
-/**
- * Pitch trim
- *
- * The trim value is the actuator control value the system needs
- * for straight and level flight.
- *
- * @group Radio Calibration
- * @min -0.5
- * @max 0.5
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(TRIM_PITCH, 0.0f);
-
-/**
- * Yaw trim
- *
- * The trim value is the actuator control value the system needs
- * for straight and level flight.
- *
- * @group Radio Calibration
- * @min -0.5
- * @max 0.5
- * @decimal 2
- * @increment 0.01
- */
-PARAM_DEFINE_FLOAT(TRIM_YAW, 0.0f);
-
 /**
  * GCS connection loss time threshold
  *

src/modules/commander/rc_calibration.cpp

@@ -1,110 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file rc_calibration.cpp
- * Remote Control calibration routine
- */
-
-#include <px4_platform_common/events.h>
-#include <px4_platform_common/posix.h>
-#include <px4_platform_common/time.h>
-#include <px4_platform_common/defines.h>
-
-#include "rc_calibration.h"
-#include "commander_helper.h"
-
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <systemlib/mavlink_log.h>
-#include <parameters/param.h>
-#include <systemlib/err.h>
-
-int do_trim_calibration(orb_advert_t *mavlink_log_pub)
-{
-	uORB::Subscription manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
-	px4_usleep(400000);
-	manual_control_setpoint_s manual_control_setpoint{};
-	bool changed = manual_control_setpoint_sub.updated();
-
-	if (!changed) {
-		mavlink_log_critical(mavlink_log_pub, "no inputs, aborting\t");
-		events::send(events::ID("commander_cal_no_inputs"), {events::Log::Error, events::LogInternal::Info},
-			     "No inputs, aborting RC trim calibration");
-		return PX4_ERROR;
-	}
-
-	manual_control_setpoint_sub.copy(&manual_control_setpoint);
-
-	/* load trim values which are active */
-	float roll_trim_active;
-	param_get(param_find("TRIM_ROLL"), &roll_trim_active);
-	float pitch_trim_active;
-	param_get(param_find("TRIM_PITCH"), &pitch_trim_active);
-	float yaw_trim_active;
-	param_get(param_find("TRIM_YAW"), &yaw_trim_active);
-
-	/* get manual control scale values */
-	float roll_scale;
-	param_get(param_find("FW_MAN_R_SC"), &roll_scale);
-	float pitch_scale;
-	param_get(param_find("FW_MAN_P_SC"), &pitch_scale);
-	float yaw_scale;
-	param_get(param_find("FW_MAN_Y_SC"), &yaw_scale);
-
-	/* set parameters: the new trim values are the combination of active trim values
-	   and the values coming from the remote control of the user
-	*/
-	float p = manual_control_setpoint.roll * roll_scale + roll_trim_active;
-	int p1r = param_set(param_find("TRIM_ROLL"), &p);
-	/*
-	 we explicitly swap sign here because the trim is added to the actuator controls
-	 which are moving in an inverse sense to manual pitch inputs
-	*/
-	p = -manual_control_setpoint.pitch * pitch_scale + pitch_trim_active;
-	int p2r = param_set(param_find("TRIM_PITCH"), &p);
-	p = manual_control_setpoint.yaw * yaw_scale + yaw_trim_active;
-	int p3r = param_set(param_find("TRIM_YAW"), &p);
-
-	if (p1r != 0 || p2r != 0 || p3r != 0) {
-		mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL\t");
-		events::send(events::ID("commander_cal_trim_param_set_failed"), events::Log::Critical,
-			     "RC trim calibration: failed to set parameters");
-		return PX4_ERROR;
-	}
-
-	mavlink_log_info(mavlink_log_pub, "trim cal done\t");
-	events::send(events::ID("commander_cal_trim_done"), events::Log::Info, "RC trim calibration completed");
-
-	return PX4_OK;
-}

src/modules/commander/rc_calibration.h

@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file rc_calibration.h
- * Remote Control calibration routine
- */
-
-#ifndef RC_CALIBRATION_H_
-#define RC_CALIBRATION_H_
-
-#include <stdint.h>
-#include <uORB/uORB.h>
-
-int do_trim_calibration(orb_advert_t *mavlink_log_pub);
-
-#endif /* RC_CALIBRATION_H_ */

src/modules/commander/worker_thread.cpp

@@ -40,7 +40,6 @@
 #include "gyro_calibration.h"
 #include "level_calibration.h"
 #include "mag_calibration.h"
-#include "rc_calibration.h"
 
 #include <px4_platform_common/events.h>
 #include <px4_platform_common/log.h>
@@ -115,10 +114,6 @@ void WorkerThread::threadEntry()
 		_ret_value = do_mag_calibration(&_mavlink_log_pub);
 		break;
 
-	case Request::RCTrimCalibration:
-		_ret_value = do_trim_calibration(&_mavlink_log_pub);
-		break;
-
 	case Request::AccelCalibration:
 		_ret_value = do_accel_calibration(&_mavlink_log_pub);
 		break;

src/modules/commander/worker_thread.hpp

@@ -51,7 +51,6 @@ public:
 	enum class Request {
 		GyroCalibration,
 		MagCalibration,
-		RCTrimCalibration,
 		AccelCalibration,
 		LevelCalibration,
 		AccelCalibrationQuick,

src/modules/fw_rate_control/FixedwingRateControl.hpp

@@ -200,9 +200,9 @@ private:
 		(ParamFloat<px4::params::FW_YR_P>) _param_fw_yr_p,
 		(ParamFloat<px4::params::FW_YR_D>) _param_fw_yr_d,
 
-		(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
-		(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
-		(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
+		(ParamFloat<px4::params::FW_TRIM_PITCH>) _param_trim_pitch,
+		(ParamFloat<px4::params::FW_TRIM_ROLL>) _param_trim_roll,
+		(ParamFloat<px4::params::FW_TRIM_YAW>) _param_trim_yaw,
 
 		(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
 	)

src/modules/fw_rate_control/fw_rate_control_params.c

@@ -298,7 +298,7 @@ PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);
 /**
 * Roll trim increment at minimum airspeed
 *
-* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
+* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -311,7 +311,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMIN, 0.0f);
 /**
 * Pitch trim increment at minimum airspeed
 *
-* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
+* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -324,7 +324,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMIN, 0.0f);
 /**
 * Yaw trim increment at minimum airspeed
 *
-* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MIN.
+* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MIN.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_Y_VMIN, 0.0f);
 /**
 * Roll trim increment at maximum airspeed
 *
-* This increment is added to TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
+* This increment is added to FW_TRIM_ROLL when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -350,7 +350,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_VMAX, 0.0f);
 /**
 * Pitch trim increment at maximum airspeed
 *
-* This increment is added to TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
+* This increment is added to FW_TRIM_PITCH when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -363,7 +363,7 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_P_VMAX, 0.0f);
 /**
 * Yaw trim increment at maximum airspeed
 *
-* This increment is added to TRIM_YAW when airspeed is FW_AIRSPD_MAX.
+* This increment is added to FW_TRIM_YAW when airspeed is FW_AIRSPD_MAX.
  *
  * @group FW Rate Control
  * @min -0.5
@@ -454,3 +454,45 @@ PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
  * @group FW Rate Control
  */
 PARAM_DEFINE_INT32(FW_ACRO_YAW_EN, 0);
+
+/**
+ * Roll trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight.
+ *
+ * @group FW Rate Control
+ * @min -0.5
+ * @max 0.5
+ * @decimal 2
+ * @increment 0.01
+ */
+PARAM_DEFINE_FLOAT(FW_TRIM_ROLL, 0.0f);
+
+/**
+ * Pitch trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight.
+ *
+ * @group FW Rate Control
+ * @min -0.5
+ * @max 0.5
+ * @decimal 2
+ * @increment 0.01
+ */
+PARAM_DEFINE_FLOAT(FW_TRIM_PITCH, 0.0f);
+
+/**
+ * Yaw trim
+ *
+ * The trim value is the actuator control value the system needs
+ * for straight and level flight.
+ *
+ * @group FW Rate Control
+ * @min -0.5
+ * @max 0.5
+ * @decimal 2
+ * @increment 0.01
+ */
+PARAM_DEFINE_FLOAT(FW_TRIM_YAW, 0.0f);