From 172e435ec01b8484b38e2c70bf30e25530f203ca Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 22 Apr 2020 20:42:23 +0200 Subject: [PATCH] VTOL: add parameter to set the PWM_OUTPUT_DEVICE_PATH (#14732) The device path is needed to apply PWM limits on the motors that are not used for FW flight (switch them off). With this parameter the device path can be set to either IO or FMU, depending on whether the motors are on the IO or FMU port. Signed-off-by: Silvan Fuhrer --- src/drivers/drv_pwm_output.h | 1 + .../vtol_att_control/vtol_att_control_main.cpp | 4 ++++ src/modules/vtol_att_control/vtol_att_control_main.h | 1 + .../vtol_att_control/vtol_att_control_params.c | 12 ++++++++++++ src/modules/vtol_att_control/vtol_type.cpp | 3 ++- src/modules/vtol_att_control/vtol_type.h | 1 + 6 files changed, 21 insertions(+), 1 deletion(-) diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index c5b5579980..33168d338c 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -61,6 +61,7 @@ __BEGIN_DECLS */ #define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output" #define PWM_OUTPUT0_DEVICE_PATH "/dev/pwm_output0" +#define PWM_OUTPUT1_DEVICE_PATH "/dev/pwm_output1" #define PWM_OUTPUT_MAX_CHANNELS 16 diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index a23516807b..2285f5ced6 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -92,6 +92,7 @@ VtolAttitudeControl::VtolAttitudeControl() : _params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX"); _params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC"); + _params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU"); /* fetch initial parameter values */ parameters_update(); @@ -297,6 +298,9 @@ VtolAttitudeControl::parameters_update() param_get(_params_handles.dec_to_pitch_ff, &_params.dec_to_pitch_ff); param_get(_params_handles.dec_to_pitch_i, &_params.dec_to_pitch_i); + param_get(_params_handles.vt_mc_on_fmu, &l); + _params.vt_mc_on_fmu = l; + // update the parameters of the instances of base VtolType if (_vtol_type != nullptr) { _vtol_type->parameters_update(); diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index e036761db7..481b3566e5 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -206,6 +206,7 @@ private: param_t dec_to_pitch_ff; param_t dec_to_pitch_i; param_t back_trans_dec_sp; + param_t vt_mc_on_fmu; } _params_handles{}; /* for multicopters it is usual to have a non-zero idle speed of the engines diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 6c28c29b38..e3251524e1 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -342,3 +342,15 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.12f); * @group VTOL Attitude Control */ PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f); + +/** + * Enable the usage of AUX outputs for hover motors. + * + * Set this parameter to true if the vehicle's hover motors are connected to the FMU (AUX) port. + * Not required for boards that only have a FMU, and no IO. + * Only applies for standard VTOL and tiltrotor. + * + * @boolean + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VT_MC_ON_FMU, 0); diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 376f757a79..f848c0fef9 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -317,7 +317,8 @@ bool VtolType::set_idle_fw() bool VtolType::apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_type type) { - const char *dev = PWM_OUTPUT0_DEVICE_PATH; + const char *dev = _params->vt_mc_on_fmu ? PWM_OUTPUT1_DEVICE_PATH : PWM_OUTPUT0_DEVICE_PATH; + int fd = px4_open(dev, 0); if (fd < 0) { diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index f4faaf8f39..0a98cf8195 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -75,6 +75,7 @@ struct Params { float dec_to_pitch_ff; float dec_to_pitch_i; float back_trans_dec_sp; + bool vt_mc_on_fmu; }; // Has to match 1:1 msg/vtol_vehicle_status.msg