From 3b2e82cd62266555fd417c7de5331266f464b99c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Jan 2016 14:44:42 +0100 Subject: [PATCH] VTOL: Fix motor index use in VT_FW_MOT_OFF. Create new param to re-default all deployed vehicles to not shut down motors. --- ROMFS/px4fmu_common/init.d/13002_firefly6 | 2 +- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- src/modules/vtol_att_control/tiltrotor_params.c | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/13002_firefly6 b/ROMFS/px4fmu_common/init.d/13002_firefly6 index d840f6c7e0..96569ddc94 100644 --- a/ROMFS/px4fmu_common/init.d/13002_firefly6 +++ b/ROMFS/px4fmu_common/init.d/13002_firefly6 @@ -46,6 +46,6 @@ set PWM_AUX_MAX 2000 set MAV_TYPE 21 param set VT_MOT_COUNT 6 -param set VT_FW_MOT_OFF 23 +param set VT_FW_MOT_OFFID 34 param set VT_IDLE_PWM_MC 1080 param set VT_TYPE 1 diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index c5e3ba7465..81cb1cb710 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -67,7 +67,7 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : _params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND"); _params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK"); _params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR"); - _params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFF"); + _params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID"); } Tiltrotor::~Tiltrotor() diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c index 58062c40b0..e37b520473 100644 --- a/src/modules/vtol_att_control/tiltrotor_params.c +++ b/src/modules/vtol_att_control/tiltrotor_params.c @@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f); * * * @min 0 - * @max 123456 + * @max 12345678 * @group VTOL Attitude Control */ -PARAM_DEFINE_INT32(VT_FW_MOT_OFF, 0); +PARAM_DEFINE_INT32(VT_FW_MOT_OFFID, 0);