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PX4-Autopilot/src/modules/control_allocator/module.yaml
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Balduin 0676647d8a ControlAllocator: Periodically spin MC motors to shed ice (#26322) 
This feature periodically spins the unused motors on VTOL airframes, to
break off ice that has built up in the motor while it is still feasible
to do so. Each ice shedding event sends a motor ouput of 0.01 to the
unused motors for 2 seconds.

Configured by `CA_ICE_PERIOD`, the duration of the entire cycle. Set to
0 to disable.
2026-01-27 11:15:24 +01:00

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__max_num_mc_motors: &max_num_mc_motors 12
__max_num_servos: &max_num_servos 8
__max_num_tilts: &max_num_tilts 4
module_name: Control Allocation
parameters:
- group: Geometry
definitions:
CA_AIRFRAME:
description:
short: Airframe selection
long: |
Defines which mixer implementation to use.
Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
'Custom' should only be used if noting else can be used.
type: enum
values:
0: Multirotor
1: Fixed-wing
2: Standard VTOL
3: Tiltrotor VTOL
4: Tailsitter VTOL
5: Rover (Ackermann)
6: Rover (Differential)
7: Motors (6DOF)
8: Multirotor with Tilt
9: Custom
10: Helicopter (tail ESC)
11: Helicopter (tail Servo)
12: Helicopter (Coaxial)
13: Rover (Mecanum)
14: Spacecraft 2D
15: Spacecraft 3D
default: 0
CA_METHOD:
description:
short: Control allocation method
long: |
Selects the algorithm and desaturation method.
If set to Automatic, the selection is based on the airframe (CA_AIRFRAME).
type: enum
values:
0: Pseudo-inverse with output clipping
1: Pseudo-inverse with sequential desaturation technique
2: Automatic
default: 2
# Motor parameters
CA_R_REV:
description:
short: Bidirectional/Reversible motors
long: |
Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
type: bitmask
bit:
0: Motor 1
1: Motor 2
2: Motor 3
3: Motor 4
4: Motor 5
5: Motor 6
6: Motor 7
7: Motor 8
8: Motor 9
9: Motor 10
10: Motor 11
11: Motor 12
default: 0
CA_R${i}_SLEW:
description:
short: Motor ${i} slew rate limit
long: |
Forces the motor output signal to take at least the configured time (in seconds)
to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.01
unit: s
num_instances: *max_num_mc_motors
min: 0
max: 10
default: 0.0
# Servo params
CA_SV${i}_SLEW:
description:
short: Servo ${i} slew rate limit
long: |
Forces the servo output signal to take at least the configured time (in seconds)
to traverse its full range [-100%, 100%].
Zero means that slew rate limiting is disabled.
type: float
decimal: 2
increment: 0.05
unit: s
num_instances: *max_num_servos
min: 0
max: 10
default: 0.0
# (MC) Rotors
CA_ROTOR_COUNT:
description:
short: Total number of rotors
type: enum
values:
0: '0'
1: '1'
2: '2'
3: '3'
4: '4'
5: '5'
6: '6'
7: '7'
8: '8'
9: '9'
10: '10'
11: '11'
12: '12'
default: 0
CA_ROTOR${i}_PX:
description:
short: Position of rotor ${i} along X body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_ROTOR${i}_PY:
description:
short: Position of rotor ${i} along Y body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_ROTOR${i}_PZ:
description:
short: Position of rotor ${i} along Z body axis relative to center of gravity
type: float
decimal: 2
increment: 0.1
unit: m
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_ROTOR${i}_AX:
description:
short: Axis of rotor ${i} thrust vector, X body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_ROTOR${i}_AY:
description:
short: Axis of rotor ${i} thrust vector, Y body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: 0.0
CA_ROTOR${i}_AZ:
description:
short: Axis of rotor ${i} thrust vector, Z body axis component
long: Only the direction is considered (the vector is normalized).
type: float
decimal: 2
increment: 0.1
num_instances: *max_num_mc_motors
min: -100
max: 100
default: -1.0
CA_ROTOR${i}_CT:
description:
short: Thrust coefficient of rotor ${i}
long: |
The thrust coefficient if defined as Thrust = CT * u^2,
where u (with value between actuator minimum and maximum)
is the output signal sent to the motor controller.
type: float
decimal: 1
increment: 1
num_instances: *max_num_mc_motors
min: 0
max: 100
default: 6.5
CA_ROTOR${i}_KM:
description:
short: Moment coefficient of rotor ${i}
long: |
The moment coefficient if defined as Torque = KM * Thrust.
Use a positive value for a rotor with CCW rotation.
Use a negative value for a rotor with CW rotation.
type: float
decimal: 3
increment: 0.01
num_instances: *max_num_mc_motors
min: -1
max: 1
default: 0.05
CA_ROTOR${i}_TILT:
description:
short: Rotor ${i} tilt assignment
long: If not set to None, this motor is tilted by the configured tilt servo.
type: enum
values:
0: 'None'
1: 'Tilt 1'
2: 'Tilt 2'
3: 'Tilt 3'
4: 'Tilt 4'
num_instances: *max_num_mc_motors
instance_start: 0
default: 0
# control surfaces
CA_SV_CS_COUNT:
description:
short: Total number of Control Surfaces
type: enum
values:
0: '0'
1: '1'
2: '2'
3: '3'
4: '4'
5: '5'
6: '6'
7: '7'
8: '8'
default: 0
CA_SV_CS${i}_TYPE:
description:
short: Control Surface ${i} type
type: enum
values:
0: (Not set)
1: Left Aileron
2: Right Aileron
3: Elevator
4: Rudder
5: Left Elevon
6: Right Elevon
7: Left V-Tail
8: Right V-Tail
9: Left Flap
10: Right Flap
11: Airbrake
12: Custom
13: Left A-tail
14: Right A-tail
15: Single Channel Aileron
16: Steering Wheel
17: Left Spoiler
18: Right Spoiler
num_instances: *max_num_servos
instance_start: 0
default: 0
CA_SV_CS${i}_TRQ_R:
description:
short: Control Surface ${i} roll torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
instance_start: 0
default: 0.0
CA_SV_CS${i}_TRQ_P:
description:
short: Control Surface ${i} pitch torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
instance_start: 0
default: 0.0
CA_SV_CS${i}_TRQ_Y:
description:
short: Control Surface ${i} yaw torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
instance_start: 0
default: 0.0
CA_SV_CS${i}_TRIM:
description:
short: Control Surface ${i} trim
long: |
Can be used to add an offset to the servo control.
NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
This parameter can only be set if all PWM Center parameters are set to default.
type: float
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
instance_start: 0
default: 0.0
CA_SV_CS${i}_FLAP:
description:
short: Control Surface ${i} configuration as flap
type: float
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
instance_start: 0
default: 0
CA_SV_FLAP_SLEW:
description:
short: Control Surface slew rate for normalized flaps setpoint
type: float
decimal: 1
min: 0.0
max: 5.0
default: 0.5
CA_SV_CS${i}_SPOIL:
description:
short: Control Surface ${i} configuration as spoiler
type: float
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
instance_start: 0
default: 0
# Tilts
CA_SV_TL_COUNT:
description:
short: Total number of Tilt Servos
type: enum
values:
0: '0'
1: '1'
2: '2'
3: '3'
4: '4'
default: 0
CA_SV_TL${i}_CT:
description:
short: Tilt ${i} is used for control
long: Define if this servo is used for additional control.
type: enum # This could be a bitset, but the enum shows up nicer in the UI
values:
0: 'None'
1: 'Yaw'
2: 'Pitch'
3: 'Yaw and Pitch'
num_instances: *max_num_tilts
instance_start: 0
default: 1
CA_SV_TL${i}_MINA:
description:
short: Tilt Servo ${i} Tilt Angle at Minimum
long: |
Defines the tilt angle when the servo is at the minimum.
An angle of zero means upwards.
type: float
decimal: 0
unit: 'deg'
num_instances: *max_num_tilts
instance_start: 0
min: -90.0
max: 90.0
default: 0.0
CA_SV_TL${i}_MAXA:
description:
short: Tilt Servo ${i} Tilt Angle at Maximum
long: |
Defines the tilt angle when the servo is at the maximum.
An angle of zero means upwards.
type: float
decimal: 0
unit: 'deg'
num_instances: *max_num_tilts
instance_start: 0
min: -90.0
max: 90.0
default: 90.0
CA_SV_TL${i}_TD:
description:
short: Tilt Servo ${i} Tilt Direction
long: |
Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
type: enum
values:
0: 'Towards Front'
90: 'Towards Right'
min: 0
max: 359
num_instances: *max_num_tilts
instance_start: 0
default: 0
# helicopter
CA_SP0_COUNT:
description:
short: Number of swash plates servos
type: enum
values:
2: '2'
3: '3'
4: '4'
default: 3
CA_SP0_ANG${i}:
description:
short: Angle for swash plate servo ${i}
long: |
The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
type: float
decimal: 0
increment: 10
unit: deg
num_instances: 4
min: 0
max: 360
default: [0, 140, 220, 0]
CA_SP0_ARM_L${i}:
description:
short: Arm length for swash plate servo ${i}
long: |
This is relative to the other arm lengths.
type: float
decimal: 3
increment: 0.1
num_instances: 4
min: 0
max: 10
default: 1.0
CA_HELI_THR_C${i}:
description:
short: Throttle curve at position ${i}
long: |
Defines the output throttle at the interval position ${i}.
type: float
decimal: 3
increment: 0.1
num_instances: 5
min: 0
max: 1
default: [1, 1, 1, 1, 1]
CA_HELI_PITCH_C${i}:
description:
short: Collective pitch curve at position ${i}
long: |
Defines the collective pitch at the interval position ${i} for a given thrust setpoint.
Use negative values if the swash plate needs to move down to provide upwards thrust.
type: float
decimal: 3
increment: 0.1
num_instances: 5
min: -1
max: 1
default: [-0.05, 0.0725, 0.2, 0.325, 0.45]
CA_HELI_YAW_CP_S:
description:
short: Scale for yaw compensation based on collective pitch
long: |
This allows to add a proportional factor of the collective pitch command to the yaw command.
A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
type: float
decimal: 3
increment: 0.1
min: -2
max: 2
default: 0.0
CA_HELI_YAW_CP_O:
description:
short: Offset for yaw compensation based on collective pitch
long: |
This allows to specify which collective pitch command results in the least amount of rotor drag.
This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch
by aligning the lowest rotor drag with zero compensation.
For symmetric profile blades this is the command that results in exactly 0° collective blade angle.
For lift profile blades this is typically a command resulting in slightly negative collective blade angle.
tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
type: float
decimal: 3
increment: 0.1
min: -2
max: 2
default: 0.0
CA_HELI_YAW_TH_S:
description:
short: Scale for yaw compensation based on throttle
long: |
This allows to add a proportional factor of the throttle command to the yaw command.
A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
tail_output += CA_HELI_YAW_TH_S * throttle
type: float
decimal: 3
increment: 0.1
min: -2
max: 2
default: 0.0
CA_HELI_YAW_CCW:
description:
short: Main rotor turns counter-clockwise
long: |
Default configuration is for a clockwise turning main rotor and
positive thrust of the tail rotor is expected to rotate the vehicle clockwise.
Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction
which is mostly the case when the main rotor turns counter-clockwise.
type: boolean
default: 0
CA_HELI_RPM_SP:
description:
short: Setpoint for main rotor rpm
long: |
Requires rpm feedback for the controller.
type: float
decimal: 0
increment: 1
min: 100
max: 10000
default: 1500
CA_HELI_RPM_P:
description:
short: Proportional gain for rpm control
long: |
Ratio between rpm error devided by 1000 to how much normalized output gets added to correct for it.
motor_command = throttle_curve + CA_HELI_RPM_P * (rpm_setpoint - rpm_measurement) / 1000
type: float
decimal: 3
increment: 0.1
min: 0
max: 10
default: 0.0
CA_HELI_RPM_I:
description:
short: Integral gain for rpm control
long: |
Same definition as the proportional gain but for integral.
type: float
decimal: 3
increment: 0.1
min: 0
max: 10
default: 0.0
CA_MAX_SVO_THROW:
description:
short: Throw angle of swashplate servo at maximum commands for linearization
long: |
Used to linearize mechanical output of swashplate servos to avoid axis coupling and binding with 4 servo redundancy.
This requires a symmetric setup where the servo horn is exactly centered with a 0 command.
Setting to zero disables feature.
type: float
decimal: 1
unit: deg
increment: 0.1
min: 0
max: 75
default: 0.0
# Others
CA_FAILURE_MODE:
description:
short: Motor failure handling mode
long: |
This is used to specify how to handle motor failures
reported by failure detector.
type: enum
values:
0: Ignore
1: Remove first failed motor from effectiveness
default: 0
CA_ICE_PERIOD:
description:
short: Ice shedding cycle period
long: |
Ice shedding prevents ice buildup in VTOL aircraft motors by
periodically spinning inactive rotors. When enabled (period
> 0), every cycle lasts for the defined period and includes
a 2‑second spin at 0.01 motor output. If period <= 0, the
feature is disabled.
type: float
decimal: 1
unit: s
increment: 0.1
min: 0.0
default: 0.0
# Mixer
mixer:
actuator_types:
motor:
functions: 'Motor'
actuator_testing_values:
min: 0
max: 1
default_is_nan: true
per_item_parameters:
- name: 'CA_R_REV'
label: 'Bidirectional'
show_as: 'bitset'
index_offset: 0
advanced: true
- name: 'CA_R${i}_SLEW'
label: 'Slew Rate'
index_offset: 0
advanced: true
servo:
functions: 'Servo'
actuator_testing_values:
min: -1
max: 1
default: 0
per_item_parameters:
- name: 'CA_SV${i}_SLEW'
label: 'Slew Rate'
index_offset: 0
advanced: true
DEFAULT:
actuator_testing_values:
min: -1
max: 1
default: -1
rules:
- select_identifier: 'servo-type' # restrict torque based on servo type
apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw', 'servo-scale-flap', 'servo-scale-spoiler']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# By default the scale is set to 1/N, where N is the amount of actuators with an effect on
# the corresponding axis. With that we are using all the available servo moving range.
0: # Not set
- { 'disabled': True, 'default': 0.0 } # roll
- { 'disabled': True, 'default': 0.0 } # pitch
- { 'disabled': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
1: # Left Aileron
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
2: # Right Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
3: # Elevator
- { 'hidden': True, 'default': 0.0 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
4: # Rudder
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
5: # Left Elevon
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
6: # Right Elevon
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
7: # Left V 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
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
8: # Right V 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
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
9: # Left Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
10: # Right Flap
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
11: # Airbrake
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
12: # Custom
- { 'hidden': False, 'default': 0.0 } # roll
- { 'hidden': False, 'default': 0.0 } # pitch
- { 'hidden': False, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
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
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
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
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
15: # Single Channel Aileron
- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
16: # Steering Wheel
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': True, 'min': -1.0, 'max': 1.0, 'default': 0} # spoiler
17: # Left Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
18: # Right Spoiler
- { 'hidden': True, 'default': 0.0 } # roll
- { 'hidden': True, 'default': 0.0 } # pitch
- { 'hidden': True, 'default': 0.0 } # yaw
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 0} # flap
- { 'hidden': False, 'min': -1.0, 'max': 1.0, 'default': 1} # spoiler
- 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']
items:
# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
# No rules for control surfaces on tailsitter beside elevons.
5: # Left Elevon (Tailsitter --> wing vertical, so affects pitch and yaw)
- { '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
6: # Right Elevon (Tailsitter -->wing vertical, so affects pitch and yaw)
- { '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
config:
param: CA_AIRFRAME
types:
0: # Multirotor
type: 'multirotor'
title: 'Multirotor'
actuators:
- actuator_type: 'motor'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
advanced: true
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
advanced: true
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
advanced: true
1: # Fixed Wing
title: 'Fixed Wing'
actuators:
- actuator_type: 'motor'
group_label: 'Motors'
count: 'CA_ROTOR_COUNT'
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Torque'
identifier: 'servo-torque-roll'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Torque'
identifier: 'servo-torque-pitch'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Torque'
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
2: # Standard VTOL
title: 'Standard VTOL'
actuators:
- actuator_type: 'motor'
group_label: 'Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
identifier: 'servo-torque-roll'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
identifier: 'servo-torque-pitch'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
3: # Tiltrotor VTOL
title: 'Tiltrotor VTOL'
actuators:
- actuator_type: 'motor'
group_label: 'MC Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_TILT'
label: 'Tilted by'
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'
item_label_prefix: 'Surface ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
identifier: 'servo-torque-roll'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
identifier: 'servo-torque-pitch'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
identifier: 'servo-torque-yaw'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
- actuator_type: 'servo'
group_label: 'Tilt Servos'
count: 'CA_SV_TL_COUNT'
item_label_prefix: 'Tilt ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_TL${i}_MINA'
label: "Angle at Min\nTilt"
- name: 'CA_SV_TL${i}_MAXA'
label: "Angle at Max\nTilt"
- name: 'CA_SV_TL${i}_TD'
label: 'Tilt Direction'
- name: 'CA_SV_TL${i}_CT'
label: 'Use for Control'
4: # Tailsitter VTOL
title: 'Tailsitter VTOL'
actuators:
- actuator_type: 'motor'
group_label: 'MC Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'
item_label_prefix: 'Surface ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
identifier: 'servo-torque-roll-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
identifier: 'servo-torque-pitch-tailsitter'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
identifier: 'servo-torque-yaw-tailsitter'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
parameters:
- label: 'Lock control surfaces in hover'
name: VT_ELEV_MC_LOCK
5: # Rover (Ackermann)
title: 'Rover (Ackermann)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Throttle'
position: [ -1, 0, 0 ]
- actuator_type: 'servo'
instances:
- name: 'Steering'
position: [ 1, 0, 0 ]
6: # Rover (Differential)
title: 'Rover (Differential)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Right Motor'
position: [ 0, 1, 0 ]
- name: 'Left Motor'
position: [ 0, -1, 0 ]
7: # Motors (6DOF)
actuators:
- actuator_type: 'motor'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_KM'
label: "Moment\nCoefficient"
8: # Multirotor with Tilt
title: 'Multirotor with Tilt'
actuators:
- actuator_type: 'motor'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_KM'
label: 'Direction CCW'
function: 'spin-dir'
show_as: 'true-if-positive'
- name: 'CA_ROTOR${i}_TILT'
label: 'Tilted by'
- actuator_type: 'servo'
group_label: 'Tilt Servos'
count: 'CA_SV_TL_COUNT'
item_label_prefix: 'Tilt ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_TL${i}_MINA'
label: "Angle at Min\nTilt"
- name: 'CA_SV_TL${i}_MAXA'
label: "Angle at Max\nTilt"
- name: 'CA_SV_TL${i}_TD'
label: 'Tilt Direction'
- name: 'CA_SV_TL${i}_CT'
label: 'Use for Control'
9: # Custom
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"
- name: 'CA_ROTOR${i}_KM'
label: "Moment\nCoefficient"
- actuator_type: 'servo'
group_label: 'Torque'
count: 'CA_SV_CS_COUNT'
item_label_prefix: 'Torque ${i}'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Scale'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Scale'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Scale'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
- name: 'CA_SV_CS${i}_FLAP'
label: 'Flaps Scale'
advanced: true
identifier: 'servo-scale-flap'
- name: 'CA_SV_CS${i}_SPOIL'
label: 'Spoiler Scale'
advanced: true
identifier: 'servo-scale-spoiler'
10: # Helicopter (tail ESC)
actuators:
- actuator_type: 'motor'
count: 1
item_label_prefix: ['Rotor']
- actuator_type: 'motor'
item_label_prefix: ['Yaw tail Motor']
count: 1
- actuator_type: 'servo'
group_label: 'Swash plate servos'
count: 'CA_SP0_COUNT'
per_item_parameters:
extra:
- name: 'CA_SP0_ANG${i}'
label: 'Angle'
- name: 'CA_SP0_ARM_L${i}'
label: 'Arm Length (relative)'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
parameters:
- label: 'Collective pitch offset to align least amount of rotor drag'
name: CA_HELI_YAW_CP_O
- label: 'Yaw compensation scale based on collective pitch'
name: CA_HELI_YAW_CP_S
- label: 'Yaw compensation scale based on throttle'
name: CA_HELI_YAW_TH_S
- label: 'Main rotor turns counter-clockwise'
name: CA_HELI_YAW_CCW
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME
11: # Helicopter (tail Servo)
actuators:
- actuator_type: 'motor'
count: 1
item_label_prefix: ['Rotor']
- actuator_type: 'servo'
item_label_prefix: ['Yaw tail Servo']
count: 1
- actuator_type: 'servo'
group_label: 'Swash plate servos'
count: 'CA_SP0_COUNT'
per_item_parameters:
extra:
- name: 'CA_SP0_ANG${i}'
label: 'Angle'
- name: 'CA_SP0_ARM_L${i}'
label: 'Arm Length (relative)'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
parameters:
- label: 'Yaw compensation scale based on collective pitch'
name: CA_HELI_YAW_CP_S
- label: 'Yaw compensation scale based on throttle'
name: CA_HELI_YAW_TH_S
- label: 'Main rotor turns counter-clockwise'
name: CA_HELI_YAW_CCW
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME
12: # Helicopter (Coaxial)
actuators:
- actuator_type: 'motor'
count: 2
item_label_prefix: ['Clockwise Rotor', 'Counter-clockwise Rotor']
- actuator_type: 'servo'
group_label: 'Swash plate servos'
count: 'CA_SP0_COUNT'
per_item_parameters:
extra:
- name: 'CA_SP0_ANG${i}'
label: 'Angle'
- name: 'CA_SP0_ARM_L${i}'
label: 'Arm Length (relative)'
- name: 'CA_SV_CS${i}_TRIM'
label: 'Trim'
parameters:
- label: 'Throttle spoolup time'
name: COM_SPOOLUP_TIME
13: # Rover (Mecanum)
title: 'Rover (Mecanum)'
actuators:
- actuator_type: 'motor'
instances:
- name: 'Right Motor Front'
position: [ 1, 1, 0 ]
- name: 'Left Motor Front'
position: [ 1, -1, 0 ]
- name: 'Right Motor Back'
position: [ -1, 1, 0 ]
- name: 'Left Motor Back'
position: [ -1, -1, 0 ]
14: # Spacecraft 2D
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"
15: # Spacecraft 3D
actuators:
- actuator_type: 'motor'
group_label: 'Thrust/Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
extra:
- name: 'CA_ROTOR${i}_AX'
label: 'Axis X'
function: 'axisx'
- name: 'CA_ROTOR${i}_AY'
label: 'Axis Y'
function: 'axisy'
- name: 'CA_ROTOR${i}_AZ'
label: 'Axis Z'
function: 'axisz'
- name: 'CA_ROTOR${i}_CT'
label: "Thrust\nCoefficient"
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