VTOL motor output handling #12352
Merged
VTOL motor output handling #12352
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
- VT_MOT_COUNT assumed that motors were always the first outputs. This does not have to be true always. VT_MOT_ID allows to specify precisely how many motors we have for hovering and to which channel they are connected. Signed-off-by: RomanBapst <[email protected]>
Signed-off-by: RomanBapst <[email protected]>
dagar
added
Admin: Enhancement (improvement) 💡
Hybrid VTOL 🛩️🚁
Ok let me know if/when you'd like to discuss this. With proper interfaces we should already have all the information needed from the mixer(s) as well as the possibility of asking for what we want higher level to shut down certain motors rather than hacking and restoring PWM limits. Maybe the basis of a control allocation module that knows the vehicle type, relevant mixers (including actual geometry), and some other metadata. |
dagar
approved these changes
Jun 27, 2019
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
We used to have VT_MOT_COUNT to specify how many motors we have that provide lift during hover.
The assumption was always that the motors are the first actuators connected to the pwm rail.
However, if this is not the case then there is no way to know if a specific output controls a motor or not.
Currently we still need this information as we directly control pwm outputs for VTOL.
My plan is to remove this as soon as possible, e.g. push the logic into the mixer and create an API for it.
We could either extend the actuator controls message or create a new message.