|
|
|
|
@ -92,8 +92,6 @@ VtolAttitudeControl::VtolAttitudeControl()
@@ -92,8 +92,6 @@ VtolAttitudeControl::VtolAttitudeControl()
|
|
|
|
|
_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN"); |
|
|
|
|
_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC"); |
|
|
|
|
|
|
|
|
|
_params_handles.v19_vt_rolldir = param_find("V19_VT_ROLLDIR"); |
|
|
|
|
|
|
|
|
|
/* fetch initial parameter values */ |
|
|
|
|
parameters_update(); |
|
|
|
|
|
|
|
|
|
@ -339,9 +337,6 @@ VtolAttitudeControl::parameters_update()
@@ -339,9 +337,6 @@ VtolAttitudeControl::parameters_update()
|
|
|
|
|
// make sure parameters are feasible, require at least 1 m/s difference between transition and blend airspeed
|
|
|
|
|
_params.airspeed_blend = math::min(_params.airspeed_blend, _params.transition_airspeed - 1.0f); |
|
|
|
|
|
|
|
|
|
// Bugfix for v1.9, should be removed in 1.10
|
|
|
|
|
param_get(_params_handles.v19_vt_rolldir, &_params.v19_vt_rolldir); |
|
|
|
|
|
|
|
|
|
// update the parameters of the instances of base VtolType
|
|
|
|
|
if (_vtol_type != nullptr) { |
|
|
|
|
_vtol_type->parameters_update(); |
|
|
|
|
@ -481,39 +476,7 @@ void VtolAttitudeControl::task_main()
@@ -481,39 +476,7 @@ void VtolAttitudeControl::task_main()
|
|
|
|
|
_vtol_type->update_transition_state(); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
// Fill actuator output
|
|
|
|
|
if (_params.v19_vt_rolldir) { |
|
|
|
|
|
|
|
|
|
// The mixer may not have been adapted to the roll inversion in v1.9
|
|
|
|
|
// Display error message and do not fill actuator outputs
|
|
|
|
|
// TODO: remove the parameter and this error message in v1.10
|
|
|
|
|
const int v19_rolldir_warning_throttling = 5000; |
|
|
|
|
static int v19_rolldir_warning_counter = 0; |
|
|
|
|
v19_rolldir_warning_counter += 1; |
|
|
|
|
|
|
|
|
|
if ((v19_rolldir_warning_counter % v19_rolldir_warning_throttling) == 0) { |
|
|
|
|
mavlink_log_critical(&_mavlink_log_pub, |
|
|
|
|
"The VTOL roll commands were inverted in v1.9!"); |
|
|
|
|
mavlink_log_critical(&_mavlink_log_pub, |
|
|
|
|
"Check roll mixing, then set V19_VT_ROLLDIR to 0"); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
// Do not fill actuator output
|
|
|
|
|
_actuators_out_0.timestamp = hrt_absolute_time(); |
|
|
|
|
_actuators_out_0.timestamp_sample = _actuators_mc_in.timestamp_sample; |
|
|
|
|
_actuators_out_1.timestamp = hrt_absolute_time(); |
|
|
|
|
_actuators_out_1.timestamp_sample = _actuators_fw_in.timestamp_sample; |
|
|
|
|
|
|
|
|
|
for (size_t i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROLS; i++) { |
|
|
|
|
_actuators_out_0.control[i] = 0.0f; |
|
|
|
|
_actuators_out_1.control[i] = 0.0f; |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
} else { |
|
|
|
|
|
|
|
|
|
// normal operation
|
|
|
|
|
_vtol_type->fill_actuator_outputs(); |
|
|
|
|
} |
|
|
|
|
_vtol_type->fill_actuator_outputs(); |
|
|
|
|
|
|
|
|
|
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
|
|
|
|
|
if (!_v_control_mode.flag_armed) { |
|
|
|
|
|
Daniel Agar
6 years ago
committed by
Lorenz Meier