Merge pull request #2423 from tumbili/more_VTOL

More vtol

ROMFS/px4fmu_common/init.d/13003_quad_tailsitter

@@ -15,3 +15,4 @@ set MAV_TYPE 20
 param set VT_MOT_COUNT 4
 param set VT_IDLE_PWM_MC  1080
 param set VT_TYPE 0
+param set VT_ELEV_MC_LOCK 1

src/modules/vtol_att_control/tailsitter.cpp

@@ -178,7 +178,12 @@ void Tailsitter::fill_mc_att_control_output()
 	_actuators_out_0->control[1] = _actuators_mc_in->control[1];
 	_actuators_out_0->control[2] = _actuators_mc_in->control[2];
 	_actuators_out_0->control[3] = _actuators_mc_in->control[3];
-	//set neutral position for elevons
-	_actuators_out_1->control[0] = _actuators_mc_in->control[2];	//roll elevon
-	_actuators_out_1->control[1] = _actuators_mc_in->control[1];	//pitch elevon
+
+	if (_params->elevons_mc_lock == 1) {
+		_actuators_out_1->control[0] = 0;
+		_actuators_out_1->control[1] = 0;
+	} else {
+		_actuators_out_1->control[0] = _actuators_mc_in->control[2];	//roll elevon
+		_actuators_out_1->control[1] = _actuators_mc_in->control[1];	//pitch elevon
+	}
 }

src/modules/vtol_att_control/tiltrotor_params.c

@@ -105,14 +105,3 @@ PARAM_DEFINE_FLOAT(VT_TILT_FW,1.0f);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_FLOAT(VT_ARSP_TRANS,10.0f);
-
-/**
- * Lock elevons in multicopter mode
- *
- * If set to 1 the elevons are locked in multicopter mode
- *
- * @min 0
- * @max 1
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK,0);

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -111,6 +111,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params_handles.prop_eff = param_find("VT_PROP_EFF");
 	_params_handles.arsp_lp_gain = param_find("VT_ARSP_LP_GAIN");
 	_params_handles.vtol_type = param_find("VT_TYPE");
+	_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -356,6 +357,10 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.vtol_type, &l);
 	_params.vtol_type = l;
 
+	/* vtol lock elevons in multicopter */
+	param_get(_params_handles.elevons_mc_lock, &l);
+	_params.elevons_mc_lock = l;
+
 	return OK;
 }
 

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -176,6 +176,7 @@ private:
 		param_t prop_eff;
 		param_t arsp_lp_gain;
 		param_t vtol_type;
+		param_t elevons_mc_lock;
 	} _params_handles;
 
 	/* for multicopters it is usual to have a non-zero idle speed of the engines

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -150,3 +150,14 @@ PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN,0.3f);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_INT32(VT_TYPE, 0);
+
+/**
+ * Lock elevons in multicopter mode
+ *
+ * If set to 1 the elevons are locked in multicopter mode
+ *
+ * @min 0
+ * @max 1
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK,0);

src/modules/vtol_att_control/vtol_type.h

@@ -53,6 +53,7 @@ struct Params {
 	float prop_eff;				// factor to calculate prop efficiency
 	float arsp_lp_gain;			// total airspeed estimate low pass gain
 	int vtol_type;
+	int elevons_mc_lock;		// lock elevons in multicopter mode
 };
 
 enum mode {