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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-18 22:18:08 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-18 22:18:08 +0100 |
commit | 5becd2227a26b686c7bbee38e61d19024b5aea5f (patch) | |
tree | 958b02caaffa4672abf77d4374b86388b318304e | |
parent | c4b53503354bb78080f3c6835095b848ad22b27b (diff) | |
parent | f3b5b67eec258476480a225b6b835e46335003b4 (diff) | |
download | px4-firmware-5becd2227a26b686c7bbee38e61d19024b5aea5f.tar.gz px4-firmware-5becd2227a26b686c7bbee38e61d19024b5aea5f.tar.bz2 px4-firmware-5becd2227a26b686c7bbee38e61d19024b5aea5f.zip |
Merge pull request #1509 from PX4/VTOL_startup_and_parameter_fix
Vtol startup and parameter fix
-rw-r--r-- | ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol | 6 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 2 | ||||
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 2 | ||||
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 10 | ||||
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_params.c | 95 |
5 files changed, 95 insertions, 20 deletions
diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol index bff971c0f..7e9a6d3dc 100644 --- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol +++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol @@ -9,8 +9,8 @@ sh /etc/init.d/rc.vtol_defaults set MIXER FMU_caipirinha_vtol -set PWM_OUTPUTS 12 +set PWM_OUT 12 set PWM_MAX 2000 set PWM_RATE 400 -param set VTOL_MOT_COUNT 2 -param set IDLE_PWM_MC 1080 +param set VT_MOT_COUNT 2 +param set VT_IDLE_PWM_MC 1080 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 10ee5db9b..6dc5a65db 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -2,7 +2,7 @@ set VEHICLE_TYPE vtol -if [ $DO_AUTOCONFIG == yes ] +if [ $AUTOCNF == yes ] then # #Default controller parameters for MC diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 5748fe2b5..14fc8d2b4 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -584,7 +584,7 @@ then sh /etc/init.d/rc.interface # Start standard vtol apps - if [ $LOAD_DEFAULT_APPS == yes ] + if [ $LOAD_DAPPS == yes ] then sh /etc/init.d/rc.vtol_apps fi 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 24800cce8..958907d1b 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -238,11 +238,11 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; - _params_handles.idle_pwm_mc = param_find("IDLE_PWM_MC"); - _params_handles.vtol_motor_count = param_find("VTOL_MOT_COUNT"); - _params_handles.mc_airspeed_min = param_find("VTOL_MC_AIRSPEED_MIN"); - _params_handles.mc_airspeed_max = param_find("VTOL_MC_AIRSPEED_MAX"); - _params_handles.mc_airspeed_trim = param_find("VTOL_MC_AIRSPEED_TRIM"); + _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); + _params_handles.vtol_motor_count = param_find("VT_MOT_COUNT"); + _params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN"); + _params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX"); + _params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM"); /* fetch initial parameter values */ parameters_update(); 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 44157acba..e21bccb0c 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -1,13 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file vtol_att_control_params.c + * Parameters for vtol attitude controller. + * + * @author Roman Bapst <bapstr@ethz.ch> + */ + #include <systemlib/param/param.h> -// number of engines -PARAM_DEFINE_INT32(VTOL_MOT_COUNT,0); -// idle pwm in multicopter mode -PARAM_DEFINE_INT32(IDLE_PWM_MC,900); -// min airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MIN,2); -// max airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_MAX,30); -// trim airspeed in multicopter mode -PARAM_DEFINE_FLOAT(VTOL_MC_AIRSPEED_TRIM,10); +/** + * VTOL number of engines + * + * @min 1.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VT_MOT_COUNT,0); + +/** + * Idle speed of VTOL when in multicopter mode + * + * @min 900 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_INT32(VT_IDLE_PWM_MC,900); + +/** + * Minimum airspeed in multicopter mode + * + * This is the minimum speed of the air flowing over the control surfaces. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MIN,2.0f); + +/** + * Maximum airspeed in multicopter mode + * + * This is the maximum speed of the air flowing over the control surfaces. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f); + +/** + * Trim airspeed when in multicopter mode + * + * This is the airflow over the control surfaces for which no airspeed scaling is applied in multicopter mode. + * + * @min 0.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f); |