VTOL: add parameter to set the PWM_OUTPUT_DEVICE_PATH

src/drivers/drv_pwm_output.h

@@ -61,6 +61,7 @@ __BEGIN_DECLS
  */
 #define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
 #define PWM_OUTPUT0_DEVICE_PATH	"/dev/pwm_output0"
+#define PWM_OUTPUT1_DEVICE_PATH	"/dev/pwm_output1"
 
 #define PWM_OUTPUT_MAX_CHANNELS 16
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -92,6 +92,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
 
 	_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
 	_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
+	_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
 
 	/* fetch initial parameter values */
 	parameters_update();
@@ -297,6 +298,9 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.dec_to_pitch_ff, &_params.dec_to_pitch_ff);
 	param_get(_params_handles.dec_to_pitch_i, &_params.dec_to_pitch_i);
 
+	param_get(_params_handles.vt_mc_on_fmu, &l);
+	_params.vt_mc_on_fmu = l;
+
 	// update the parameters of the instances of base VtolType
 	if (_vtol_type != nullptr) {
 		_vtol_type->parameters_update();

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -206,6 +206,7 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public px4::
 		param_t dec_to_pitch_ff;
 		param_t dec_to_pitch_i;
 		param_t back_trans_dec_sp;
+		param_t vt_mc_on_fmu;
 	} _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

@@ -342,3 +342,15 @@ PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.12f);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_FLOAT(VT_B_DEC_I, 0.1f);
+
+/**
+ * Enable the usage of AUX outputs for hover motors.
+ *
+ * Set this parameter to true if the vehicle's hover motors are connected to the FMU (AUX) port.
+ * Not required for boards that only have a FMU, and no IO.
+ * Only applies for standard VTOL and tiltrotor.
+ *
+ * @boolean
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_MC_ON_FMU, 0);

src/modules/vtol_att_control/vtol_type.cpp

@@ -317,7 +317,8 @@ bool VtolType::set_idle_fw()
 
 bool VtolType::apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_type type)
 {
-	const char *dev = PWM_OUTPUT0_DEVICE_PATH;
+	const char *dev = _params->vt_mc_on_fmu ? PWM_OUTPUT1_DEVICE_PATH : PWM_OUTPUT0_DEVICE_PATH;
+
 	int fd = px4_open(dev, 0);
 
 	if (fd < 0) {

src/modules/vtol_att_control/vtol_type.h

@@ -75,6 +75,7 @@ struct Params {
 	float dec_to_pitch_ff;
 	float dec_to_pitch_i;
 	float back_trans_dec_sp;
+	bool vt_mc_on_fmu;
 };
 
 // Has to match 1:1 msg/vtol_vehicle_status.msg