aboutsummaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_AERT.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_AET.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_Q.mix18
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_RET.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_X5.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_delta.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_hex_+.mix11
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_hex_x.mix11
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_+.mix20
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_v.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_w.mix19
-rw-r--r--ROMFS/px4fmu_common/mixers/FMU_quad_x.mix19
-rw-r--r--src/modules/fw_att_control/fw_att_control_main.cpp4
-rw-r--r--src/modules/multirotor_att_control/multirotor_att_control_main.c6
-rw-r--r--src/modules/sensors/sensor_params.c5
-rw-r--r--src/modules/sensors/sensors.cpp22
16 files changed, 251 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
index 75e82bb00..0ec663e35 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AERT.mix
@@ -62,3 +62,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_AET.mix b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
index 20cb88b91..c73cb2a62 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_AET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_AET.mix
@@ -58,3 +58,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_Q.mix b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
index ebcb66b24..17ff71151 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_Q.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_Q.mix
@@ -50,3 +50,21 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_RET.mix b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
index 95beb8927..f07c34ac8 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_RET.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_RET.mix
@@ -51,3 +51,23 @@ range. Inputs below zero are treated as zero.
M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_X5.mix b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
index 9f81e1dc3..610868354 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_X5.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_X5.mix
@@ -48,3 +48,22 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_delta.mix b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
index 981466704..f0aa6650d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_delta.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_delta.mix
@@ -48,3 +48,23 @@ M: 1
O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
+
+Gimbal / flaps / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
+
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
index b5e38ce9e..f8f9f0e4d 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_+.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the + configuration. All co
are mixed 100%.
R: 6+ 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
index 8e8d122ad..26b40b9e9 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_hex_x.mix
@@ -5,3 +5,14 @@ This file defines a single mixer for a hexacopter in the X configuration. All c
are mixed 100%.
R: 6x 10000 10000 10000 0
+
+Gimbal / payload mixer for last two channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
index dfdf1d58e..cd9a9cfab 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_+.mix
@@ -5,3 +5,23 @@ This file defines a single mixer for a quadrotor in the + configuration. All con
are mixed 100%.
R: 4+ 10000 10000 10000 0
+
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
index 2a4a0f341..520aba635 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_v.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the V configuration. All co
are mixed 100%.
R: 4v 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
index 81b4af30b..58e6af74b 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix
@@ -4,3 +4,22 @@ Multirotor mixer for PX4FMU
This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%.
R: 4w 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
index 12a3bee20..fa21c8012 100644
--- a/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/FMU_quad_x.mix
@@ -5,3 +5,22 @@ This file defines a single mixer for a quadrotor in the X configuration. All co
are mixed 100%.
R: 4x 10000 10000 10000 0
+
+Gimbal / payload mixer for last four channels
+-----------------------------------------------------
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 4 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 5 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 6 10000 10000 0 -10000 10000
+
+M: 1
+O: 10000 10000 0 -10000 10000
+S: 0 7 10000 10000 0 -10000 10000
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index ae9aaa2da..eb67874db 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -683,6 +683,10 @@ FixedwingAttitudeControl::task_main()
_actuators.control[4] = _manual.flaps;
}
+ _actuators.control[5] = _manual.aux1;
+ _actuators.control[6] = _manual.aux2;
+ _actuators.control[7] = _manual.aux3;
+
/* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time();
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
index 44f8f664b..60a211817 100644
--- a/src/modules/multirotor_att_control/multirotor_att_control_main.c
+++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c
@@ -368,6 +368,12 @@ mc_thread_main(int argc, char *argv[])
actuators.control[3] = 0.0f;
}
+ /* fill in manual control values */
+ actuators.control[4] = manual.flaps;
+ actuators.control[5] = manual.aux1;
+ actuators.control[6] = manual.aux2;
+ actuators.control[7] = manual.aux3;
+
actuators.timestamp = hrt_absolute_time();
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 8875f65fc..587b81588 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -219,8 +219,9 @@ PARAM_DEFINE_INT32(RC_MAP_MISSIO_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_FLAPS, 0);
-PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera yaw / azimuth */
-PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera pitch / tilt */
+PARAM_DEFINE_INT32(RC_MAP_AUX1, 0); /**< default function: camera pitch */
+PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
+PARAM_DEFINE_INT32(RC_MAP_AUX3, 0); /**< default function: camera azimuth / yaw */
PARAM_DEFINE_FLOAT(RC_SCALE_ROLL, 0.6f);
PARAM_DEFINE_FLOAT(RC_SCALE_PITCH, 0.6f);
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 1b79de8fd..da0c11372 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -75,6 +75,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
@@ -196,6 +197,7 @@ private:
orb_advert_t _sensor_pub; /**< combined sensor data topic */
orb_advert_t _manual_control_pub; /**< manual control signal topic */
+ orb_advert_t _actuator_group_3_pub; /**< manual control as actuator topic */
orb_advert_t _rc_pub; /**< raw r/c control topic */
orb_advert_t _battery_pub; /**< battery status */
orb_advert_t _airspeed_pub; /**< airspeed */
@@ -446,6 +448,7 @@ Sensors::Sensors() :
/* publications */
_sensor_pub(-1),
_manual_control_pub(-1),
+ _actuator_group_3_pub(-1),
_rc_pub(-1),
_battery_pub(-1),
_airspeed_pub(-1),
@@ -1227,6 +1230,7 @@ Sensors::rc_poll()
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
struct manual_control_setpoint_s manual_control;
+ struct actuator_controls_s actuator_group_3;
/* initialize to default values */
manual_control.roll = NAN;
@@ -1394,6 +1398,16 @@ Sensors::rc_poll()
manual_control.aux5 = limit_minus_one_to_one(_rc.chan[_rc.function[AUX_5]].scaled);
}
+ /* copy from mapped manual control to control group 3 */
+ actuator_group_3.control[0] = manual_control.roll;
+ actuator_group_3.control[1] = manual_control.pitch;
+ actuator_group_3.control[2] = manual_control.yaw;
+ actuator_group_3.control[3] = manual_control.throttle;
+ actuator_group_3.control[4] = manual_control.flaps;
+ actuator_group_3.control[5] = manual_control.aux1;
+ actuator_group_3.control[6] = manual_control.aux2;
+ actuator_group_3.control[7] = manual_control.aux3;
+
/* check if ready for publishing */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
@@ -1410,6 +1424,14 @@ Sensors::rc_poll()
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
}
+
+ /* check if ready for publishing */
+ if (_actuator_group_3_pub > 0) {
+ orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
+
+ } else {
+ _actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
+ }
}
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-17 14:13:10 +0000