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VTOL: Fix motor index use in VT_FW_MOT_OFF. Create new param to re-default all deployed vehicles to not shut down motors.

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Lorenz Meier
2016-01-01 14:44:42 +01:00
parent 56e5c50703
commit 3b2e82cd62
3 changed files with 4 additions and 4 deletions
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2
ROMFS/px4fmu_common/init.d/13002_firefly6
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@@ -46,6 +46,6 @@ set PWM_AUX_MAX 2000
set MAV_TYPE 21 set MAV_TYPE 21
param set VT_MOT_COUNT 6 param set VT_MOT_COUNT 6
param set VT_FW_MOT_OFF 23 param set VT_FW_MOT_OFFID 34
param set VT_IDLE_PWM_MC 1080 param set VT_IDLE_PWM_MC 1080
param set VT_TYPE 1 param set VT_TYPE 1

2
src/modules/vtol_att_control/tiltrotor.cpp
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@@ -67,7 +67,7 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND"); _params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK"); _params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR"); _params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFF"); _params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID");
} }
Tiltrotor::~Tiltrotor() Tiltrotor::~Tiltrotor()

4
src/modules/vtol_att_control/tiltrotor_params.c
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@@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
* *
* *
* @min 0 * @min 0
* @max 123456 * @max 12345678
* @group VTOL Attitude Control * @group VTOL Attitude Control
*/ */
PARAM_DEFINE_INT32(VT_FW_MOT_OFF, 0); PARAM_DEFINE_INT32(VT_FW_MOT_OFFID, 0);