Merge pull request #222 from PX4/trim_calibration

Fixed wing controller uses global trim values

4 files changed, 16 insertions, 13 deletions

diff --git a/apps/controllib/block/BlockParam.cpp b/apps/controllib/block/BlockParam.cpp
index b3f49f7db..fd12e365d 100644
--- a/apps/controllib/block/BlockParam.cpp
+++ b/apps/controllib/block/BlockParam.cpp
@@ -46,7 +46,7 @@
 namespace control
 {
 
-BlockParamBase::BlockParamBase(Block *parent, const char *name) :
+BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
 	_handle(PARAM_INVALID)
 {
 	char fullname[blockNameLengthMax];
@@ -61,8 +61,10 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name) :
 		if (!strcmp(name, "")) {
 			strncpy(fullname, parentName, blockNameLengthMax);
 
-		} else {
+		} else if (parent_prefix) {
 			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
+		} else {
+			strncpy(fullname, name, blockNameLengthMax);
 		}
 
 		parent->getParams().add(this);
diff --git a/apps/controllib/block/BlockParam.hpp b/apps/controllib/block/BlockParam.hpp
index 7f86d1717..58a9bfc0d 100644
--- a/apps/controllib/block/BlockParam.hpp
+++ b/apps/controllib/block/BlockParam.hpp
@@ -53,7 +53,12 @@ namespace control
 class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
 {
 public:
-	BlockParamBase(Block *parent, const char *name);
+	/**
+	 * Instantiate a block param base.
+	 *
+	 * @param parent_prefix Set to true to include the parent name in the parameter name
+	 */
+	BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
 	virtual ~BlockParamBase() {};
 	virtual void update() = 0;
 	const char *getName() { return param_name(_handle); }
@@ -68,8 +73,8 @@ template<class T>
 class __EXPORT BlockParam : public BlockParamBase
 {
 public:
-	BlockParam(Block *block, const char *name) :
-		BlockParamBase(block, name),
+	BlockParam(Block *block, const char *name, bool parent_prefix=true) :
+		BlockParamBase(block, name, parent_prefix),
 		_val() {
 		update();
 	}
diff --git a/apps/controllib/fixedwing.cpp b/apps/controllib/fixedwing.cpp
index b84a54fee..1189be51a 100644
--- a/apps/controllib/fixedwing.cpp
+++ b/apps/controllib/fixedwing.cpp
@@ -171,10 +171,10 @@ BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
 	_headingHold(this, ""),
 	_velocityHold(this, ""),
 	_altitudeHold(this, ""),
-	_trimAil(this, "TRIM_AIL"),
-	_trimElv(this, "TRIM_ELV"),
-	_trimRdr(this, "TRIM_RDR"),
-	_trimThr(this, "TRIM_THR")
+	_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
+	_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
+	_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
+	_trimThr(this, "TRIM_THR", true) /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
 {
 }
 
diff --git a/apps/examples/control_demo/params.c b/apps/examples/control_demo/params.c
index 8cefc298f..83e01e63c 100644
--- a/apps/examples/control_demo/params.c
+++ b/apps/examples/control_demo/params.c
@@ -56,8 +56,4 @@ PARAM_DEFINE_FLOAT(FWB_V_MIN, 10.0f);       // minimum commanded velocity
 PARAM_DEFINE_FLOAT(FWB_V_CMD, 12.0f);       // commanded velocity
 PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f);       // maximum commanded velocity
 
-// trim
-PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);     // trim aileron, normalized (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f);   // trim elevator (-1,1)
-PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);     // trim rudder (-1,1)
 PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f);     // trim throttle (0,1)