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Allocation: add A-tail servo type 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-08-03 18:44:52 +02:00 committed by Beat Küng
parent f454dcef6b
commit c6d1b1f50f
3 changed files with 23 additions and 14 deletions
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10
ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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@ -111,15 +111,15 @@ param set-default CA_ROTOR4_AX 1.0
param set-default CA_ROTOR4_AZ 0.0 param set-default CA_ROTOR4_AZ 0.0
param set-default CA_SV_CS_COUNT 3 param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TYPE 12 #custom type as combined aileron
param set-default CA_SV_CS0_TRQ_R -0.5 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_P 0.5000
param set-default CA_SV_CS1_TRQ_R 0.0000 param set-default CA_SV_CS1_TRQ_R 0.0000
param set-default CA_SV_CS1_TRQ_Y -0.5000 param set-default CA_SV_CS1_TRQ_Y -0.5000
param set-default CA_SV_CS1_TYPE 8 param set-default CA_SV_CS1_TYPE 13
param set-default CA_SV_CS2_TRQ_P 0.5000 param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y 0.5000 param set-default CA_SV_CS2_TRQ_Y 0.5000
param set-default CA_SV_CS2_TYPE 7 param set-default CA_SV_CS2_TYPE 14
param set-default PWM_MAIN_FUNC1 201 param set-default PWM_MAIN_FUNC1 201
param set-default PWM_MAIN_FUNC2 202 param set-default PWM_MAIN_FUNC2 202
@ -128,7 +128,7 @@ param set-default PWM_MAIN_FUNC4 203
param set-default PWM_MAIN_FUNC5 101 param set-default PWM_MAIN_FUNC5 101
param set-default PWM_MAIN_FUNC6 102 param set-default PWM_MAIN_FUNC6 102
param set-default PWM_MAIN_FUNC7 103 param set-default PWM_MAIN_FUNC7 103
param set-default PWM_MAIN_FUNC8 105 param set-default PWM_MAIN_FUNC8 104
param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_DIS1 1500 param set-default PWM_MAIN_DIS1 1500

17
ROMFS/px4fmu_common/init.d/airframes/2106_albatross
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@ -35,20 +35,19 @@ param set-default CA_AIRFRAME 1
param set-default CA_ROTOR_COUNT 1 param set-default CA_ROTOR_COUNT 1
param set-default CA_SV_CS_COUNT 7 param set-default CA_SV_CS_COUNT 7
param set-default CA_SV_CS0_TRQ_R -0.5000 param set-default CA_SV_CS0_TRQ_R -0.5000
param set-default CA_SV_CS0_TYPE 1 param set-default CA_SV_CS0_TYPE 1 #left aileron
param set-default CA_SV_CS1_TRQ_R 0.5000 param set-default CA_SV_CS1_TRQ_R 0.5000
param set-default CA_SV_CS1_TYPE 2 param set-default CA_SV_CS1_TYPE 2 #right aileron
param set-default CA_SV_CS2_TRQ_P 0.5000 param set-default CA_SV_CS2_TRQ_P 0.5000
param set-default CA_SV_CS2_TRQ_Y 0.5000 param set-default CA_SV_CS2_TRQ_Y -0.5000
param set-default CA_SV_CS2_TYPE 7 param set-default CA_SV_CS2_TYPE 13 #left A-tail
param set-default CA_SV_CS3_TRQ_P 0.5000 param set-default CA_SV_CS3_TRQ_P 0.5000
param set-default CA_SV_CS3_TRQ_Y -0.5000 param set-default CA_SV_CS3_TRQ_Y 0.5000
param set-default CA_SV_CS3_TYPE 8 param set-default CA_SV_CS3_TYPE 14 #right A-tail
param set-default CA_SV_CS4_TRQ_Y 1.0000 param set-default CA_SV_CS4_TRQ_Y 1.0000
param set-default CA_SV_CS4_TYPE 12 param set-default CA_SV_CS4_TYPE 12
param set-default CA_SV_CS5_TYPE 9 param set-default CA_SV_CS5_TYPE 9 #left flap
param set-default CA_SV_CS6_TYPE 10 param set-default CA_SV_CS6_TYPE 10 #right flap
param set-default CA_SV_CS7_TYPE 0
param set-default PWM_MAIN_TIM0 50 param set-default PWM_MAIN_TIM0 50
param set-default PWM_MAIN_TIM1 50 param set-default PWM_MAIN_TIM1 50

10
src/modules/control_allocator/module.yaml
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@ -268,6 +268,8 @@ parameters:
10: Right Flap 10: Right Flap
11: Airbrakes 11: Airbrakes
12: Custom 12: Custom
13: Left A-tail
14: Right A-tail
num_instances: *max_num_servos num_instances: *max_num_servos
instance_start: 0 instance_start: 0
default: 0 default: 0
@ -529,6 +531,14 @@ mixer:
- { 'hidden': True, 'default': 0.0 } # roll - { '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 } # pitch
- { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw - { 'min': -1.0, 'max': 0.0, 'default': -0.5 } # yaw
13: # Left A Tail
- { '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
14: # Right A Tail
- { '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
- select_identifier: 'servo-type-tailsitter' # restrict torque based on servo type for tailsitters - 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'] apply_identifiers: ['servo-torque-roll-tailsitter', 'servo-torque-pitch-tailsitter', 'servo-torque-yaw-tailsitter']