Allocation: add Single Channel Aileron to CS types

This is the control surface type for airframes that have only a
single aileron servo or have the ailerons on a single output channel.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -111,7 +111,7 @@ param set-default CA_ROTOR4_AX 1.0
 param set-default CA_ROTOR4_AZ 0.0
 
 param set-default CA_SV_CS_COUNT 3
-param set-default CA_SV_CS0_TYPE 12 #custom type as combined aileron
+param set-default CA_SV_CS0_TYPE 15
 param set-default CA_SV_CS0_TRQ_R 1.0
 param set-default CA_SV_CS1_TRQ_P 0.5000
 param set-default CA_SV_CS1_TRQ_R 0.0000

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp

@@ -120,6 +120,15 @@ void ActuatorEffectivenessControlSurfaces::updateParams()
 
 		case Type::Custom:
 			break;
+
+		case Type::LeftATail:
+			break;
+
+		case Type::RightATail:
+			break;
+
+		case Type::SingleChannelAileron:
+			break;
 		}
 	}
 }

src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.hpp

@@ -57,6 +57,9 @@ public:
 		RightFlaps = 10,
 		Airbrakes = 11,
 		Custom = 12,
+		LeftATail = 13,
+		RightATail = 14,
+		SingleChannelAileron = 15,
 	};
 
 	struct Params {

src/modules/control_allocator/module.yaml

@@ -270,6 +270,7 @@ parameters:
                 12: Custom
                 13: Left A-tail
                 14: Right A-tail
+                15: Single Channel Aileron
             num_instances: *max_num_servos
             instance_start: 0
             default: 0
@@ -539,6 +540,10 @@ mixer:
               - { '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
+            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
 
       - 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']