Merge pull request #2422 from tumbili/VTOL_new_tailsitter

Vtol new tailsitter

ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol

@@ -1,7 +1,7 @@
 #
 # Generic configuration file for caipirinha VTOL version
 #
-# Roman Bapst <bapstr@ethz.ch>
+# Roman Bapst <bapstr@gmail.com>
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -13,3 +13,4 @@ set PWM_MAX 2000
 set PWM_RATE 400
 param set VT_MOT_COUNT 2
 param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0

ROMFS/px4fmu_common/init.d/13002_firefly6

@@ -2,7 +2,7 @@
 #
 # Generic configuration file for BirdsEyeView Aerobotics FireFly6
 #
-# Roman Bapst <romanbapst@yahoo.de>
+# Roman Bapst <bapstroman@gmail.com>
 #
 
 sh /etc/init.d/rc.vtol_defaults
@@ -41,3 +41,4 @@ set MAV_TYPE 21
 
 param set VT_MOT_COUNT 6
 param set VT_IDLE_PWM_MC 1080
+param set VT_TYPE 1

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -0,0 +1,17 @@
+#
+# Generic configuration file for a tailsitter with motors in X configuration.
+#
+# Roman Bapst <bapstroman@gmail.com>
+#
+
+sh /etc/init.d/rc.vtol_defaults
+
+set MIXER quad_x_vtol
+
+set PWM_OUT 1234
+set PWM_MAX 2000
+set PWM_RATE 400
+set MAV_TYPE 20
+param set VT_MOT_COUNT 4
+param set VT_IDLE_PWM_MC  1080
+param set VT_TYPE 0

ROMFS/px4fmu_common/init.d/rc.autostart

@@ -268,6 +268,14 @@ then
 	sh /etc/init.d/13002_firefly6
 fi
 
+#
+# Tailsitter with 4 motors in x config
+#
+if param compare SYS_AUTOSTART 13003
+then
+	sh /etc/init.d/13003_quad_tailsitter
+fi
+
 #
 # TriCopter Y Yaw+
 #

ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix

@@ -0,0 +1,18 @@
+Mixer for Tailsitter with x motor configuration and elevons
+===========================================================
+
+This file defines a single mixer for tailsitter with motors in X configuration.  All controls
+are mixed 100%.
+
+R: 4x 10000 10000 10000 0
+
+#mixer for the elevons
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+
+M: 2
+O:       10000   10000    0 -10000  10000
+S: 1 0   10000   10000    0 -10000  10000
+S: 1 1  -10000  -10000    0 -10000  10000

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -193,12 +193,14 @@ private:
 		float trim_roll;
 		float trim_pitch;
 		float trim_yaw;
-		float rollsp_offset_deg;			/**< Roll Setpoint Offset in deg */
-		float pitchsp_offset_deg;			/**< Pitch Setpoint Offset in deg */
-		float rollsp_offset_rad;			/**< Roll Setpoint Offset in rad */
-		float pitchsp_offset_rad;			/**< Pitch Setpoint Offset in rad */
-		float man_roll_max;						/**< Max Roll in rad */
-		float man_pitch_max;					/**< Max Pitch in rad */
+		float rollsp_offset_deg;		/**< Roll Setpoint Offset in deg */
+		float pitchsp_offset_deg;		/**< Pitch Setpoint Offset in deg */
+		float rollsp_offset_rad;		/**< Roll Setpoint Offset in rad */
+		float pitchsp_offset_rad;		/**< Pitch Setpoint Offset in rad */
+		float man_roll_max;				/**< Max Roll in rad */
+		float man_pitch_max;			/**< Max Pitch in rad */
+
+		int vtol_type;					/**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
 
 	}		_parameters;			/**< local copies of interesting parameters */
 
@@ -241,6 +243,8 @@ private:
 		param_t man_roll_max;
 		param_t man_pitch_max;
 
+		param_t vtol_type;
+
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -404,6 +408,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_parameter_handles.man_roll_max = param_find("FW_MAN_R_MAX");
 	_parameter_handles.man_pitch_max = param_find("FW_MAN_P_MAX");
 
+	_parameter_handles.vtol_type = param_find("VT_TYPE");
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -481,6 +487,8 @@ FixedwingAttitudeControl::parameters_update()
 	_parameters.man_roll_max = math::radians(_parameters.man_roll_max);
 	_parameters.man_pitch_max = math::radians(_parameters.man_pitch_max);
 
+	param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
+
 	/* pitch control parameters */
 	_pitch_ctrl.set_time_constant(_parameters.tconst);
 	_pitch_ctrl.set_k_p(_parameters.p_p);
@@ -703,10 +711,8 @@ FixedwingAttitudeControl::task_main()
 			/* load local copies */
 			orb_copy(ORB_ID(vehicle_attitude), _att_sub, &_att);
 
-			if (_vehicle_status.is_vtol) {
-				/* vehicle type is VTOL, need to modify attitude!
-				 * The following modification to the attitude is vehicle specific and in this case applies
-				 *  to tail-sitter models !!!
+			if (_vehicle_status.is_vtol && _parameters.vtol_type == 0) {
+				/* vehicle is a tailsitter, we need to modify the estimated attitude for fw mode
 				 *
 				 * Since the VTOL airframe is initialized as a multicopter we need to
 				 * modify the estimated attitude for the fixed wing operation.