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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
874 lines
33 KiB
YAML
874 lines
33 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
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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 Automtic, 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 ${i} slew rate limit
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long: |
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Minimum time allowed for the motor input signal to pass through
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the full output range. A value x means that the motor signal
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can only go from 0 to 1 in minimum x seconds (in case of
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reversible motors, the range is -1 to 1).
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Zero means that slew rate limiting is disabled.
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type: float
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decimal: 2
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increment: 0.01
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num_instances: *max_num_mc_motors
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min: 0
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max: 10
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default: 0.0
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# Servo params
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CA_SV${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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Minimum time allowed for the servo input signal to pass through
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the full output range. A value x means that the servo signal
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can only go from -1 to 1 in minimum x seconds.
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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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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 ${i} along X body axis
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_PY:
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description:
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short: Position of rotor ${i} along Y body axis
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${i}_PZ:
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description:
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short: Position of rotor ${i} along Z body axis
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type: float
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decimal: 2
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increment: 0.1
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unit: m
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num_instances: *max_num_mc_motors
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min: -100
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max: 100
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default: 0.0
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CA_ROTOR${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 ${i} type
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type: enum
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values:
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0: (Not set)
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1: Left Aileron
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2: Right Aileron
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3: Elevator
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4: Rudder
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5: Left Elevon
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6: Right Elevon
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7: Left V-Tail
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8: Right V-Tail
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9: Left Flap
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10: Right Flap
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11: Airbrakes
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12: Custom
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num_instances: *max_num_servos
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instance_start: 0
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default: 0
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CA_SV_CS${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 ${i} trim
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long: Can be used to add an offset to the servo control.
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type: float
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decimal: 2
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min: -1.0
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max: 1.0
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num_instances: *max_num_servos
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instance_start: 0
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default: 0.0
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# Tilts
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CA_SV_TL_COUNT:
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description:
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short: Total number of Tilt Servos
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type: enum
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values:
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0: '0'
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1: '1'
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2: '2'
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3: '3'
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4: '4'
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default: 0
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CA_SV_TL${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 ${i} Tilt Direction
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long: |
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Defines the direction the servo tilts towards when moving towards the maximum tilt angle.
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For example if the minimum tilt angle is -90, the maximum 90, and the direction 'Towards Front',
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the motor axis aligns with the XZ-plane, points towards -X at the minimum and +X at the maximum tilt.
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type: enum
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values:
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0: 'Towards Front'
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90: 'Towards Right'
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min: 0
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max: 359
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num_instances: *max_num_tilts
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instance_start: 0
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default: 0
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# helicopter
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CA_SP0_COUNT:
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description:
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short: Number of swash plates servos
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type: enum
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values:
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3: '3'
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4: '4'
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default: 3
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CA_SP0_ANG${i}:
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description:
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short: Angle for swash plate servo ${i}
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type: float
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decimal: 0
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increment: 10
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unit: deg
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num_instances: 4
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min: 0
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max: 360
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default: [0, 140, 220, 0]
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CA_SP0_ARM_L${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 ${i}.
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type: float
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decimal: 3
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increment: 0.1
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num_instances: 5
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min: 0
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max: 1
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default: [0, 0.3, 0.6, 0.8, 1]
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CA_HELI_PITCH_C${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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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: [0.05, 0.15, 0.25, 0.35, 0.45]
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# Others
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CA_FAILURE_MODE:
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description:
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short: Motor failure handling mode
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long: |
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This is used to specify how to handle motor failures
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reported by failure detector.
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type: enum
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values:
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0: Ignore
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1: Remove first failed motor from effectiveness
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default: 0
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# Mixer
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mixer:
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actuator_types:
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motor:
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functions: 'Motor'
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actuator_testing_values:
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min: 0
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max: 1
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default_is_nan: true
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per_item_parameters:
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- name: 'CA_R_REV'
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label: 'Bidirectional'
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show_as: 'bitset'
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index_offset: 0
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advanced: true
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- name: 'CA_R${i}_SLEW'
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label: 'Slew Rate'
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index_offset: 0
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advanced: true
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servo:
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functions: 'Servo'
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actuator_testing_values:
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min: -1
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max: 1
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default: 0
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per_item_parameters:
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- name: 'CA_SV${i}_SLEW'
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label: 'Slew Rate'
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index_offset: 0
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advanced: true
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DEFAULT:
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actuator_testing_values:
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min: -1
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max: 1
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default: -1
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rules:
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- select_identifier: 'servo-type' # restrict torque based on servo type
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apply_identifiers: ['servo-torque-roll', 'servo-torque-pitch', 'servo-torque-yaw']
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items:
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# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
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# By default the scale is set to 1/N, where N is the amount of actuators with an effect on
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# the corresponding axis. With that we are using all the available servo moving range.
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0: # Not set
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- { 'disabled': True, 'default': 0.0 } # roll
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- { 'disabled': True, 'default': 0.0 } # pitch
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- { 'disabled': True, 'default': 0.0 } # yaw
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1: # Left Aileron
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- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
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- { 'hidden': True, 'default': 0.0 } # pitch
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- { 'hidden': True, 'default': 0.0 } # yaw
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2: # Right Aileron
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
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- { 'hidden': True, 'default': 0.0 } # pitch
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- { 'hidden': True, 'default': 0.0 } # yaw
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3: # Elevator
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- { 'hidden': True, 'default': 0.0 } # roll
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- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # pitch
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- { 'hidden': True, 'default': 0.0 } # yaw
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4: # Rudder
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- { 'hidden': True, 'default': 0.0 } # roll
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- { 'hidden': True, 'default': 0.0 } # pitch
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- { 'min': 0.0, 'max': 1.0, 'default': 1.0 } # yaw
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5: # Left Elevon
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- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # roll
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
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- { 'hidden': True, 'default': 0.0 } # yaw
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6: # Right Elevon
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # roll
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
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- { 'hidden': True, 'default': 0.0 } # yaw
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7: # Left V Tail
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- { 'hidden': True, 'default': 0.0 } # roll
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # yaw
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8: # Right V Tail
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- { 'hidden': True, 'default': 0.0 } # roll
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- { 'min': 0.0, 'max': 1.0, 'default': 0.5 } # pitch
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- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
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- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters
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apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']
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items:
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# Convention: horizontal surfaces: up=positive, vertical: right=positive, mixed: up=positive.
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# No rules for control surfaces on tailsitter beside elevons.
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5: # Left Elevon (Tailsitter --> wing vertical, so affects pitch and yaw)
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- { 'hidden': True, 'default': 0.0 } # roll
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- { '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'
|
|
per_item_parameters:
|
|
standard:
|
|
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
|
|
- actuator_type: 'servo'
|
|
group_label: 'Control Surfaces'
|
|
count: 'CA_SV_CS_COUNT'
|
|
per_item_parameters:
|
|
extra:
|
|
- name: 'CA_SV_CS${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'
|
|
|
|
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'
|
|
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'
|
|
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'
|
|
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: 'Left Motor'
|
|
position: [ 0, -1., 0 ]
|
|
- name: 'Right 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${i}_TRIM'
|
|
label: 'Trim'
|
|
|
|
10: # Helicopter
|
|
actuators:
|
|
- actuator_type: 'motor'
|
|
count: 1
|
|
item_label_prefix: ['Rotor']
|
|
- actuator_type: 'servo'
|
|
item_label_prefix: ['Yaw tail servo']
|
|
count: 1
|
|
- actuator_type: 'servo'
|
|
group_label: 'Swash plate servos'
|
|
count: 'CA_SP0_COUNT'
|
|
per_item_parameters:
|
|
extra:
|
|
- name: 'CA_SP0_ANG${i}'
|
|
label: 'Angle'
|
|
- name: 'CA_SP0_ARM_L${i}'
|
|
label: 'Arm Length (relative)'
|