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575fa0850b
Add PWM_*_CENTERx for each servo. Use a bilinear transform to map actuator_servos to PWM signals. This solution only works for PWM based servos. Other types of servos are not affected. * PWM: Add servo trim option * PWM: Improve documentation of PWM trim feature * PWM: cleaner clamping and docs typo * update documentation & safety * add migration formula * rename param from trim to center * docs with center instead of trim * move clamping and reorder values * improve documentation * adress failing range check * improve documentation * CA: add event for setting CENTER with TRIM Signed-off-by: Silvan <silvan@auterion.com> --------- Signed-off-by: Silvan <silvan@auterion.com> Co-authored-by: Silvan <silvan@auterion.com>
1254 lines
51 KiB
YAML
1254 lines
51 KiB
YAML
__max_num_mc_motors: &max_num_mc_motors 12
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__max_num_servos: &max_num_servos 8
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__max_num_tilts: &max_num_tilts 4
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module_name: Control Allocation
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parameters:
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- group: Geometry
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definitions:
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CA_AIRFRAME:
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description:
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short: Airframe selection
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long: |
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Defines which mixer implementation to use.
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Some are generic, while others are specifically fit to a certain vehicle with a fixed set of actuators.
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'Custom' should only be used if noting else can be used.
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type: enum
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values:
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0: Multirotor
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1: Fixed-wing
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2: Standard VTOL
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3: Tiltrotor VTOL
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4: Tailsitter VTOL
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5: Rover (Ackermann)
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6: Rover (Differential)
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7: Motors (6DOF)
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8: Multirotor with Tilt
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9: Custom
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10: Helicopter (tail ESC)
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11: Helicopter (tail Servo)
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12: Helicopter (Coaxial)
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13: Rover (Mecanum)
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14: Spacecraft 2D
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15: Spacecraft 3D
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default: 0
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CA_METHOD:
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description:
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short: Control allocation method
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long: |
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Selects the algorithm and desaturation method.
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If set to Automatic, the selection is based on the airframe (CA_AIRFRAME).
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type: enum
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values:
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0: Pseudo-inverse with output clipping
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1: Pseudo-inverse with sequential desaturation technique
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2: Automatic
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default: 2
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# Motor parameters
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CA_R_REV:
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description:
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short: Bidirectional/Reversible motors
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long: |
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Configure motors to be bidirectional/reversible. Note that the output driver needs to support this as well.
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type: bitmask
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bit:
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0: Motor 1
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1: Motor 2
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2: Motor 3
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3: Motor 4
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4: Motor 5
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5: Motor 6
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6: Motor 7
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7: Motor 8
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8: Motor 9
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9: Motor 10
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10: Motor 11
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11: Motor 12
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default: 0
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CA_R${i}_SLEW:
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description:
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short: Motor ${i} slew rate limit
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long: |
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Forces the motor output signal to take at least the configured time (in seconds)
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to traverse its full range (normally [0, 1], or if reversible [-1, 1]).
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Zero means that slew rate limiting is disabled.
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type: float
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decimal: 2
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increment: 0.01
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unit: s
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num_instances: *max_num_mc_motors
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min: 0
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max: 10
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default: 0.0
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# Servo params
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CA_SV${i}_SLEW:
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description:
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short: Servo ${i} slew rate limit
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long: |
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Forces the servo output signal to take at least the configured time (in seconds)
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to traverse its full range [-100%, 100%].
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Zero means that slew rate limiting is disabled.
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type: float
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decimal: 2
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increment: 0.05
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unit: s
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num_instances: *max_num_servos
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min: 0
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max: 10
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default: 0.0
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# (MC) Rotors
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CA_ROTOR_COUNT:
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description:
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short: Total number of rotors
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type: enum
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values:
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0: '0'
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1: '1'
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2: '2'
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3: '3'
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4: '4'
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5: '5'
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6: '6'
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7: '7'
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8: '8'
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9: '9'
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10: '10'
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11: '11'
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12: '12'
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default: 0
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CA_ROTOR${i}_PX:
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description:
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short: Position of rotor ${i} along X body axis relative to center of gravity
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_PY:
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description:
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short: Position of rotor ${i} along Y body axis relative to center of gravity
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_PZ:
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description:
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short: Position of rotor ${i} along Z body axis relative to center of gravity
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_AX:
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description:
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short: Axis of rotor ${i} thrust vector, X body axis component
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long: Only the direction is considered (the vector is normalized).
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type: float
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decimal: 2
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increment: 0.1
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_AY:
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description:
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short: Axis of rotor ${i} thrust vector, Y body axis component
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long: Only the direction is considered (the vector is normalized).
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type: float
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decimal: 2
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increment: 0.1
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_AZ:
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description:
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short: Axis of rotor ${i} thrust vector, Z body axis component
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long: Only the direction is considered (the vector is normalized).
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type: float
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decimal: 2
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increment: 0.1
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: -1.0
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CA_ROTOR${i}_CT:
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description:
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short: Thrust coefficient of rotor ${i}
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long: |
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The thrust coefficient if defined as Thrust = CT * u^2,
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where u (with value between actuator minimum and maximum)
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is the output signal sent to the motor controller.
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type: float
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decimal: 1
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increment: 1
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num_instances: *max_num_mc_motors
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min: 0
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max: 100
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default: 6.5
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CA_ROTOR${i}_KM:
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description:
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short: Moment coefficient of rotor ${i}
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long: |
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The moment coefficient if defined as Torque = KM * Thrust.
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Use a positive value for a rotor with CCW rotation.
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Use a negative value for a rotor with CW rotation.
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type: float
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decimal: 3
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increment: 0.01
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num_instances: *max_num_mc_motors
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min: -1
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max: 1
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default: 0.05
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CA_ROTOR${i}_TILT:
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description:
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short: Rotor ${i} tilt assignment
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long: If not set to None, this motor is tilted by the configured tilt servo.
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type: enum
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values:
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0: 'None'
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1: 'Tilt 1'
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2: 'Tilt 2'
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3: 'Tilt 3'
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4: 'Tilt 4'
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num_instances: *max_num_mc_motors
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instance_start: 0
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default: 0
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# control surfaces
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CA_SV_CS_COUNT:
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description:
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short: Total number of Control Surfaces
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type: enum
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values:
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0: '0'
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1: '1'
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2: '2'
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3: '3'
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4: '4'
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5: '5'
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6: '6'
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7: '7'
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8: '8'
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default: 0
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CA_SV_CS${i}_TYPE:
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description:
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short: Control Surface ${i} type
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type: enum
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values:
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0: (Not set)
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1: Left Aileron
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2: Right Aileron
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3: Elevator
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4: Rudder
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5: Left Elevon
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6: Right Elevon
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7: Left V-Tail
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8: Right V-Tail
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9: Left Flap
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10: Right Flap
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11: Airbrake
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12: Custom
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13: Left A-tail
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14: Right A-tail
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15: Single Channel Aileron
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16: Steering Wheel
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17: Left Spoiler
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18: Right Spoiler
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num_instances: *max_num_servos
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instance_start: 0
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default: 0
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CA_SV_CS${i}_TRQ_R:
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description:
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short: Control Surface ${i} roll torque scaling
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type: float
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decimal: 2
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num_instances: *max_num_servos
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instance_start: 0
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default: 0.0
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CA_SV_CS${i}_TRQ_P:
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description:
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short: Control Surface ${i} pitch torque scaling
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type: float
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decimal: 2
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num_instances: *max_num_servos
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instance_start: 0
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default: 0.0
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CA_SV_CS${i}_TRQ_Y:
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description:
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short: Control Surface ${i} yaw torque scaling
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type: float
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decimal: 2
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num_instances: *max_num_servos
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instance_start: 0
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default: 0.0
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CA_SV_CS${i}_TRIM:
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description:
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short: Control Surface ${i} trim
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long: |
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Can be used to add an offset to the servo control.
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NOTE: Do not use for PWM servos. Use the PWM CENTER parameters instead (e.g., PWM_MAIN_CENT, PWM_AUX_CENT) instead.
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This parameter can only be set if all PWM Center parameters are set to default.
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type: float
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decimal: 2
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min: -1.0
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max: 1.0
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num_instances: *max_num_servos
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instance_start: 0
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default: 0.0
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CA_SV_CS${i}_FLAP:
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description:
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short: Control Surface ${i} configuration as flap
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type: float
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decimal: 2
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min: -1.0
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max: 1.0
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num_instances: *max_num_servos
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instance_start: 0
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default: 0
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CA_SV_CS${i}_SPOIL:
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description:
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short: Control Surface ${i} configuration as spoiler
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type: float
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decimal: 2
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min: -1.0
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max: 1.0
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num_instances: *max_num_servos
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instance_start: 0
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default: 0
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# Tilts
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CA_SV_TL_COUNT:
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description:
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short: Total number of Tilt Servos
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type: enum
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values:
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0: '0'
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1: '1'
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2: '2'
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3: '3'
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4: '4'
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default: 0
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CA_SV_TL${i}_CT:
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description:
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short: Tilt ${i} is used for control
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long: Define if this servo is used for additional control.
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type: enum # This could be a bitset, but the enum shows up nicer in the UI
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values:
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0: 'None'
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1: 'Yaw'
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2: 'Pitch'
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3: 'Yaw and Pitch'
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num_instances: *max_num_tilts
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instance_start: 0
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default: 1
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CA_SV_TL${i}_MINA:
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description:
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short: Tilt Servo ${i} Tilt Angle at Minimum
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long: |
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Defines the tilt angle when the servo is at the minimum.
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An angle of zero means upwards.
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type: float
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decimal: 0
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unit: 'deg'
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num_instances: *max_num_tilts
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instance_start: 0
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min: -90.0
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max: 90.0
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default: 0.0
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CA_SV_TL${i}_MAXA:
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description:
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short: Tilt Servo ${i} Tilt Angle at Maximum
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long: |
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Defines the tilt angle when the servo is at the maximum.
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An angle of zero means upwards.
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type: float
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decimal: 0
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unit: 'deg'
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num_instances: *max_num_tilts
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instance_start: 0
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min: -90.0
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max: 90.0
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default: 90.0
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CA_SV_TL${i}_TD:
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description:
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short: Tilt Servo ${i} Tilt Direction
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long: |
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Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
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For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
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the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
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type: enum
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values:
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0: 'Towards Front'
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90: 'Towards Right'
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min: 0
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max: 359
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num_instances: *max_num_tilts
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instance_start: 0
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default: 0
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# helicopter
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CA_SP0_COUNT:
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description:
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short: Number of swash plates servos
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type: enum
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values:
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2: '2'
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3: '3'
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4: '4'
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default: 3
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CA_SP0_ANG${i}:
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description:
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short: Angle for swash plate servo ${i}
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long: |
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The angle is measured clockwise (as seen from top), with 0 pointing forwards (X axis).
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type: float
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decimal: 0
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increment: 10
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unit: deg
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num_instances: 4
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min: 0
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max: 360
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default: [0, 140, 220, 0]
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CA_SP0_ARM_L${i}:
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description:
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short: Arm length for swash plate servo ${i}
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long: |
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This is relative to the other arm lengths.
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type: float
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decimal: 3
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increment: 0.1
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num_instances: 4
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min: 0
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max: 10
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default: 1.0
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CA_HELI_THR_C${i}:
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description:
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short: Throttle curve at position ${i}
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long: |
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Defines the output throttle at the interval position ${i}.
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type: float
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decimal: 3
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increment: 0.1
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num_instances: 5
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min: 0
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max: 1
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default: [1, 1, 1, 1, 1]
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CA_HELI_PITCH_C${i}:
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description:
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short: Collective pitch curve at position ${i}
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long: |
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Defines the collective pitch at the interval position ${i} for a given thrust setpoint.
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Use negative values if the swash plate needs to move down to provide upwards thrust.
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type: float
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decimal: 3
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increment: 0.1
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num_instances: 5
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min: -1
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max: 1
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default: [-0.05, 0.0725, 0.2, 0.325, 0.45]
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CA_HELI_YAW_CP_S:
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description:
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short: Scale for yaw compensation based on collective pitch
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long: |
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This allows to add a proportional factor of the collective pitch command to the yaw command.
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A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
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tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
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type: float
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decimal: 3
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increment: 0.1
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min: -2
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max: 2
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default: 0.0
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CA_HELI_YAW_CP_O:
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description:
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short: Offset for yaw compensation based on collective pitch
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long: |
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This allows to specify which collective pitch command results in the least amount of rotor drag.
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This is used to increase the accuracy of the yaw drag torque compensation based on collective pitch
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by aligning the lowest rotor drag with zero compensation.
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For symmetric profile blades this is the command that results in exactly 0° collective blade angle.
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For lift profile blades this is typically a command resulting in slightly negative collective blade angle.
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tail_output += CA_HELI_YAW_CP_S * abs(collective_pitch - CA_HELI_YAW_CP_O)
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type: float
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decimal: 3
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increment: 0.1
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min: -2
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max: 2
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default: 0.0
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CA_HELI_YAW_TH_S:
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description:
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short: Scale for yaw compensation based on throttle
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long: |
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This allows to add a proportional factor of the throttle command to the yaw command.
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A negative value is needed when positive thrust of the tail rotor rotates the vehicle opposite to the main rotor turn direction.
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|
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tail_output += CA_HELI_YAW_TH_S * throttle
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type: float
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decimal: 3
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increment: 0.1
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min: -2
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max: 2
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default: 0.0
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CA_HELI_YAW_CCW:
|
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description:
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short: Main rotor turns counter-clockwise
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long: |
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Default configuration is for a clockwise turning main rotor and
|
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positive thrust of the tail rotor is expected to rotate the vehicle clockwise.
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Set this parameter to true if the tail rotor provides thrust in counter-clockwise direction
|
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which is mostly the case when the main rotor turns counter-clockwise.
|
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type: boolean
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default: 0
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CA_HELI_RPM_SP:
|
|
description:
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short: Setpoint for main rotor rpm
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long: |
|
|
Requires rpm feedback for the controller.
|
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type: float
|
|
decimal: 0
|
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increment: 1
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min: 100
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max: 10000
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default: 1500
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CA_HELI_RPM_P:
|
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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
|
|
|
|
# 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"
|