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Allow more than 4 MC motors in VTOL Simulator #12166

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Allow more than 4 MC motors in VTOL Simulator #12166

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3b896dc
New parameter VT_PSH_MOT_COUNT defined
irsdkv Jun 4, 2019
cf7f35b
Rename VT_MOT_COUNT and VT_PSH_MOT_COUNT parameters
irsdkv Jun 4, 2019
a2aa61c
New parameters and MAV_TYPE_VTOL_RESERVED3 type implemented in mavlin…
irsdkv Jun 10, 2019
9b44c27
Disable parameters display via RC interface
irsdkv Jun 10, 2019
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d-posix/1040_standard_vtol
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Expand Up @@ -35,7 +35,7 @@ then
param set VT_F_TRANS_DUR 5
param set VT_F_TRANS_THR 0.75
param set VT_ARSP_TRANS 16
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_TYPE 2

param set WEST_EN 1
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d-posix/1041_tailsitter
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Expand Up @@ -35,7 +35,7 @@ then

param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
param set VT_MOT_COUNT 0
param set VT_MC_MOT_COUNT 0
param set VT_TYPE 0

param set WEST_EN 1
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor
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Expand Up @@ -35,7 +35,7 @@ then

param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_TILT_FW 3.1415
param set VT_TILT_TRANS 1.2
param set VT_ELEV_MC_LOCK 0
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
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Expand Up @@ -59,7 +59,7 @@ then
param set SYS_RESTART_TYPE 2

param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_TYPE 2

# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13000_generic_vtol_standard
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Expand Up @@ -26,7 +26,7 @@ then
param set PWM_RATE 400

param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4

# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
param set V19_VT_ROLLDIR 0
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13001_caipirinha_vtol
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Expand Up @@ -35,7 +35,7 @@ then

param set VT_IDLE_PWM_MC 1080
param set VT_ELEV_MC_LOCK 0
param set VT_MOT_COUNT 2
param set VT_MC_MOT_COUNT 2
param set VT_TYPE 0

# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13002_firefly6
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Expand Up @@ -42,7 +42,7 @@ then

param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_COUNT 6
param set VT_MC_MOT_COUNT 6
param set VT_TILT_MC 0.08
param set VT_TILT_TRANS 0.5
param set VT_TILT_FW 0.9
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13003_quad_tailsitter
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Expand Up @@ -15,7 +15,7 @@ then
param set PWM_MAX 2000
param set PWM_RATE 400

param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13004_quad+_tailsitter
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Expand Up @@ -26,7 +26,7 @@ then
param set PWM_MAX 2000
param set PWM_RATE 400

param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 0
param set VT_ELEV_MC_LOCK 1
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13005_vtol_AAERT_quad
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Expand Up @@ -58,7 +58,7 @@ then
param set VT_ARSP_BLEND 6
param set VT_ARSP_TRANS 12
param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2

Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13006_vtol_standard_delta
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Expand Up @@ -45,7 +45,7 @@ then
param set PWM_AUX_DIS3 950
param set PWM_RATE 400

param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13007_vtol_AAVVT_quad
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Expand Up @@ -35,7 +35,7 @@ then
param set PWM_RATE 400

param set VT_F_TRANS_THR 0.75
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 2

Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13008_QuadRanger
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Expand Up @@ -53,7 +53,7 @@ then
param set VT_B_TRANS_DUR 4
param set VT_F_TRANS_THR 0.75
param set VT_IDLE_PWM_MC 1080
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_TYPE 2

# Indicate that FW roll direction was fixed in mixer, to be removed in v1.10
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13009_vtol_spt_ranger
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Expand Up @@ -72,7 +72,7 @@ then
param set VT_B_TRANS_DUR 4
param set VT_F_TRANS_THR 0.6
param set VT_IDLE_PWM_MC 1180
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_TRANS_MIN_TM 5
param set VT_TRANS_TIMEOUT 30
param set VT_TYPE 2
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13010_claire
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Expand Up @@ -22,7 +22,7 @@ then
param set PWM_MAX 2000
param set PWM_RATE 400

param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_FW_MOT_OFFID 13
param set VT_IDLE_PWM_MC 1080
param set VT_TILT_FW 0.9
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2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13012_convergence
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Expand Up @@ -69,7 +69,7 @@ then
param set VT_FW_MOT_OFFID 3
param set VT_FW_PERM_STAB 0
param set VT_IDLE_PWM_MC 1200
param set VT_MOT_COUNT 3
param set VT_MC_MOT_COUNT 3
param set VT_TILT_FW 1
param set VT_TILT_MC 0
param set VT_TILT_TRANS 0.45
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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Expand Up @@ -133,7 +133,7 @@ then
param set SER_TEL2_BAUD 57600

param set VT_TYPE 2
param set VT_MOT_COUNT 4
param set VT_MC_MOT_COUNT 4
param set VT_F_TRANS_THR 1
param set VT_DWN_PITCH_MAX 8
param set VT_FW_QC_P 55
Expand Down
2 changes: 1 addition & 1 deletion ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark
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Expand Up @@ -69,7 +69,7 @@ then
param set VT_F_TRANS_THR 0.85
param set VT_F_TR_OL_TM 7
param set VT_IDLE_PWM_MC 1000
param set VT_MOT_COUNT 8
param set VT_MC_MOT_COUNT 8
param set VT_PSHER_RMP_DT 2
param set VT_TRANS_MIN_TM 6
param set VT_TYPE 2
Expand Down
28 changes: 26 additions & 2 deletions src/modules/mavlink/mavlink_messages.cpp
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Expand Up @@ -2961,12 +2961,29 @@ class MavlinkStreamHILActuatorControls : public MavlinkStream
MavlinkStreamHILActuatorControls(MavlinkStreamHILActuatorControls &) = delete;
MavlinkStreamHILActuatorControls &operator = (const MavlinkStreamHILActuatorControls &) = delete;

int32_t _param_vtol_mc_mot_count_val;
int32_t _param_vtol_fw_mot_count_val;

protected:
explicit MavlinkStreamHILActuatorControls(Mavlink *mavlink) : MavlinkStream(mavlink),
_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_outputs))),
_act_time(0)
{}
{
param_t ph;

ph = param_find_no_notification("VT_MC_MOT_COUNT");

if (ph == PARAM_INVALID || param_get(ph, &_param_vtol_mc_mot_count_val) != PX4_OK) {
_param_vtol_mc_mot_count_val = 0;
}

ph = param_find_no_notification("VT_FW_MOT_COUNT");

if (ph == PARAM_INVALID || param_get(ph, &_param_vtol_fw_mot_count_val) != PX4_OK) {
_param_vtol_fw_mot_count_val = 1;
}
}

bool send(const hrt_abstime t)
{
Expand Down Expand Up @@ -2995,7 +3012,8 @@ class MavlinkStreamHILActuatorControls : public MavlinkStream
system_type == MAV_TYPE_OCTOROTOR ||
system_type == MAV_TYPE_VTOL_DUOROTOR ||
system_type == MAV_TYPE_VTOL_QUADROTOR ||
system_type == MAV_TYPE_VTOL_RESERVED2) {
system_type == MAV_TYPE_VTOL_RESERVED2 ||
system_type == MAV_TYPE_VTOL_RESERVED3) {

/* multirotors: set number of rotor outputs depending on type */

Expand All @@ -3022,6 +3040,12 @@ class MavlinkStreamHILActuatorControls : public MavlinkStream
n = 8;
break;

case MAV_TYPE_VTOL_RESERVED3:
// this is the nonstandard VTOL plane with one or more push / pull propellers
n = _param_vtol_mc_mot_count_val;
n += _param_vtol_fw_mot_count_val;
break;

default:
n = 8;
break;
Expand Down
4 changes: 3 additions & 1 deletion src/modules/simulator/simulator.h
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Expand Up @@ -302,7 +302,9 @@ class Simulator : public ModuleParams
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
(ParamInt<px4::params::VT_MC_MOT_COUNT>) _param_vtol_mc_mot_count,
(ParamInt<px4::params::VT_FW_MOT_COUNT>) _param_vtol_fw_mot_count
)

#endif
Expand Down
9 changes: 8 additions & 1 deletion src/modules/simulator/simulator_mavlink.cpp
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Expand Up @@ -94,7 +94,8 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs(const
_system_type == MAV_TYPE_VTOL_DUOROTOR ||
_system_type == MAV_TYPE_VTOL_QUADROTOR ||
_system_type == MAV_TYPE_VTOL_TILTROTOR ||
_system_type == MAV_TYPE_VTOL_RESERVED2) {
_system_type == MAV_TYPE_VTOL_RESERVED2 ||
_system_type == MAV_TYPE_VTOL_RESERVED3) {

/* multirotors: set number of rotor outputs depending on type */

Expand All @@ -116,6 +117,12 @@ mavlink_hil_actuator_controls_t Simulator::actuator_controls_from_outputs(const
n = 5;
break;

case MAV_TYPE_VTOL_RESERVED3:
// this is the nonstandard VTOL plane with one or more push / pull propellers
n = _param_vtol_mc_mot_count.get();
n += _param_vtol_fw_mot_count.get();
break;

case MAV_TYPE_HEXAROTOR:
n = 6;
break;
Expand Down
6 changes: 3 additions & 3 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
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Expand Up @@ -62,10 +62,10 @@ VtolAttitudeControl::VtolAttitudeControl()
_vtol_vehicle_status.vtol_in_rw_mode = true; /* start vtol in rotary wing mode*/

_params.idle_pwm_mc = PWM_DEFAULT_MIN;
_params.vtol_motor_count = 0;
_params.vtol_mc_motor_count = 0;

_params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC");
_params_handles.vtol_motor_count = param_find("VT_MOT_COUNT");
_params_handles.vtol_mc_motor_count = param_find("VT_MC_MOT_COUNT");
_params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB");
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
Expand Down Expand Up @@ -438,7 +438,7 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.idle_pwm_mc, &_params.idle_pwm_mc);

/* vtol motor count */
param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count);
param_get(_params_handles.vtol_mc_motor_count, &_params.vtol_mc_motor_count);

/* vtol fw permanent stabilization */
param_get(_params_handles.vtol_fw_permanent_stab, &l);
Expand Down
2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/vtol_att_control_main.h
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Expand Up @@ -174,7 +174,7 @@ class VtolAttitudeControl

struct {
param_t idle_pwm_mc;
param_t vtol_motor_count;
param_t vtol_mc_motor_count;
param_t vtol_fw_permanent_stab;
param_t vtol_type;
param_t elevons_mc_lock;
Expand Down
15 changes: 13 additions & 2 deletions src/modules/vtol_att_control/vtol_att_control_params.c
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Expand Up @@ -40,15 +40,26 @@
*/

/**
* VTOL number of engines
* VTOL number of engines when in multicopter mode
*
* @min 0
* @max 8
* @increment 1
* @decimal 0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_MOT_COUNT, 0);
PARAM_DEFINE_INT32(VT_MC_MOT_COUNT, 0);

/**
* VTOL number of push / pull engines
*
* @min 1
* @max 8
* @increment 1
* @decimal 0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_MOT_COUNT, 1);

/**
* Idle speed of VTOL when in multicopter mode
Expand Down
16 changes: 8 additions & 8 deletions src/modules/vtol_att_control/vtol_type.cpp
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Expand Up @@ -248,7 +248,7 @@ bool VtolType::set_idle_mc()
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));

for (int i = 0; i < _params->vtol_motor_count; i++) {
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = pwm_value;

Expand All @@ -268,7 +268,7 @@ bool VtolType::set_idle_fw()

memset(&pwm_values, 0, sizeof(pwm_values));

for (int i = 0; i < _params->vtol_motor_count; i++) {
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = PWM_MOTOR_OFF;

Expand Down Expand Up @@ -315,10 +315,10 @@ bool VtolType::apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_
motor_state VtolType::set_motor_state(const motor_state current_state, const motor_state next_state, const int value)
{
struct pwm_output_values pwm_values = {};
pwm_values.channel_count = _params->vtol_motor_count;
pwm_values.channel_count = _params->vtol_mc_motor_count;

// per default all motors are running
for (int i = 0; i < _params->vtol_motor_count; i++) {
// per default all mc mode motors are running
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
pwm_values.values[i] = _max_mc_pwm_values.values[i];
}

Expand All @@ -327,7 +327,7 @@ motor_state VtolType::set_motor_state(const motor_state current_state, const mot
break;

case motor_state::DISABLED:
for (int i = 0; i < _params->vtol_motor_count; i++) {
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = _disarmed_pwm_values.values[i];
}
Expand All @@ -337,7 +337,7 @@ motor_state VtolType::set_motor_state(const motor_state current_state, const mot

case motor_state::IDLE:

for (int i = 0; i < _params->vtol_motor_count; i++) {
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = _params->idle_pwm_mc;
}
Expand All @@ -346,7 +346,7 @@ motor_state VtolType::set_motor_state(const motor_state current_state, const mot
break;

case motor_state::VALUE:
for (int i = 0; i < _params->vtol_motor_count; i++) {
for (int i = 0; i < _params->vtol_mc_motor_count; i++) {
if (is_motor_off_channel(i)) {
pwm_values.values[i] = value;
}
Expand Down
2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/vtol_type.h
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Expand Up @@ -49,7 +49,7 @@

struct Params {
int32_t idle_pwm_mc; // pwm value for idle in mc mode
int32_t vtol_motor_count; // number of motors
int32_t vtol_mc_motor_count; // number of motors in mc mode
int32_t vtol_type;
bool elevons_mc_lock; // lock elevons in multicopter mode
float fw_min_alt; // minimum relative altitude for FW mode (QuadChute)
Expand Down