From 720cf5a485ad7fa4887fe4eea6ca476fcd114cca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 28 Jul 2022 10:18:06 +0200
Subject: [PATCH] config: enable dynamic control allocation by default
 (SYS_CTRL_ALLOC=1)

---
 .../px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc | 2 --
 ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter   | 2 --
 .../init.d-posix/airframes/1022_uuv_bluerov2_heavy            | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane         | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter    | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor     | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover         | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover      | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat          | 1 -
 ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship     | 1 -
 .../init.d-posix/airframes/6012_typhoon_h480_ctrlalloc        | 2 --
 .../init.d/airframes/13000_generic_vtol_standard              | 1 -
 .../init.d/airframes/13100_generic_vtol_tiltrotor             | 2 --
 .../init.d/airframes/13200_generic_vtol_tailsitter            | 1 -
 ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane      | 1 -
 ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing        | 1 -
 src/lib/systemlib/system_params.c                             | 4 +---
 18 files changed, 1 insertion(+), 24 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
index 7871be2329..9f14acc73b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10017_iris_ctrlalloc
@@ -9,8 +9,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
 
 param set-default CA_AIRFRAME 0
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
index 4e3491dd71..ad69ad0f88 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10019_omnicopter
@@ -9,8 +9,6 @@
 
 . ${R}etc/init.d/rc.mc_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
 
 param set-default CA_AIRFRAME 0
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
index d224008464..9441dc8ac4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1022_uuv_bluerov2_heavy
@@ -8,7 +8,6 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 7
 
 param set-default CA_ROTOR_COUNT 8
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
index 47e29ede25..a6af630c18 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
@@ -41,7 +41,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
index a2a2025a8e..fbc0dcde44 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1040_standard_vtol
@@ -12,7 +12,6 @@
 param set-default FD_ACT_EN 0
 param set-default FD_ACT_MOT_TOUT 500
 
-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
index 3c55ebd59e..0f305728c4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter
@@ -9,7 +9,6 @@
 
 param set-default MAV_TYPE 20
 
-# param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 
 param set-default CA_ROTOR_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
index 59ec3242e4..5dfaa3bff2 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1042_tiltrotor
@@ -9,7 +9,6 @@
 
 param set-default MAV_TYPE 21
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3
 
 param set-default CA_ROTOR_COUNT 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
index ad1727bb33..cd8aca77f1 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 5
 
 param set-default CA_R_REV 1
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
index 2be17c1262..8b0a91d3b4 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 6
 
 param set-default CA_R_REV 3
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
index c45d9d78b9..1d8cb686c2 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat
@@ -28,7 +28,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 2.0
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 2
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
index 33be5fa870..e3930a1fbc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/2507_cloudship
@@ -11,7 +11,6 @@
 
 . ${R}etc/init.d/rc.airship_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 9
 
 param set-default CA_ROTOR_COUNT 3
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
index 39e360f8be..65e72db75e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_h480_ctrlalloc
@@ -9,8 +9,6 @@
 
 param set-default MAV_TYPE 13
 
-param set-default SYS_CTRL_ALLOC 1
-
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
index 9a4221f1a6..38dc721bc7 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
+++ b/ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
@@ -12,7 +12,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2
 param set-default CA_ROTOR_COUNT 5
 param set-default CA_ROTOR0_PX 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
index a457a7ce76..19f9a95eb9 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
+++ b/ROMFS/px4fmu_common/init.d/airframes/13100_generic_vtol_tiltrotor
@@ -11,8 +11,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default SYS_CTRL_ALLOC 1
-
 param set-default CA_AIRFRAME 3
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 1
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
index 888e530050..8e0ca8e0b6 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/airframes/13200_generic_vtol_tailsitter
@@ -12,7 +12,6 @@
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM -0.05
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
index 9ed8f7f69b..30bce6eeef 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
+++ b/ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane
@@ -10,7 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
index 005a596103..6daab9cdac 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
+++ b/ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing
@@ -10,7 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
diff --git a/src/lib/systemlib/system_params.c b/src/lib/systemlib/system_params.c
index 95305d20e1..abe5ae8000 100644
--- a/src/lib/systemlib/system_params.c
+++ b/src/lib/systemlib/system_params.c
@@ -289,10 +289,8 @@ PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
  * If enabled, dynamic control allocation with runtime configuration of the
  * mixing and output functions is used.
  *
- * Note: this is work-in-progress and not all vehicle types are supported yet.
- *
  * @boolean
  * @reboot_required true
  * @group System
  */
-PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0);
+PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 1);