添加了4101新的机型,aux1和aux2输出rp云台的两路信号

ROMFS/px4fmu_common/init.d/airframes/4101_quad_x_copy

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name Generic Quadcopter
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output MAIN5 feed-through of RC AUX1 channel
+# @output MAIN6 feed-through of RC AUX2 channel
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+# @output AUX4 feed-through of RC FLAPS channel
+#
+# @maintainer Lorenz Meier <lorenz@px4.io>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set YT_TILT_PITCH 1
+param set YT_TILT_ROLL 1
+param set-default PWM_AUX_RATE 50
+param set-default PWM_MAIN_RATE 400
+
+
+set MIXER quad_x
+set MIXER_AUX yt_rp
+
+set PWM_OUT 1234

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -62,6 +62,7 @@ px4_add_romfs_files(
 
 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
+	4101_quad_x_copy
 	4003_qavr5
 	4009_qav250
 	4010_dji_f330

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -4,6 +4,7 @@
 #
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
+echo "setup vehicle_setup"
 
 #
 # Fixed wing setup.
@@ -82,6 +83,8 @@ then
 
 	# Start standard multicopter apps.
 	. ${R}etc/init.d/rc.mc_apps
+	echo "mc vehicle setup done"
+
 fi
 
 #

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -95,4 +95,5 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
+	yt_rp.aux.mix
 )

ROMFS/px4fmu_common/mixers/yt_rp.aux.mix

@@ -0,0 +1,9 @@
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 1 1  10000  10000      0 -10000  10000
+

boards/px4/fmu-v5/init/rc.board_sensors

@@ -34,4 +34,6 @@ ist8310 -X -b 1 -R 10 start
 
 # upatch_radar start -d /dev/ttyS2
 # nanoradar_mr72 start -r 25 -d /dev/ttyS2
+
+# downward
 tfmini start -R 25 -d /dev/ttyS2

src/modules/mc_att_control/mc_att_control.hpp

@@ -55,6 +55,7 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <vtol_att_control/vtol_type.h>
 #include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <uORB/topics/actuator_controls.h>
 
 #include <AttitudeControl.hpp>
 
@@ -82,6 +83,8 @@ public:
 	static int print_usage(const char *reason = nullptr);
 
 	bool init();
+	actuator_controls_s _acutator_rp;
+	uORB::Publication<actuator_controls_s>		_actuators_1_pub{ORB_ID(actuator_controls_1)};
 
 private:
 	void Run() override;
@@ -157,6 +160,10 @@ private:
 		(ParamInt<px4::params::MPC_THR_CURVE>) _param_mpc_thr_curve,				/**< throttle curve behavior */
 
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
+
+		(ParamFloat<px4::params::YT_TILT_ROLL>) _param_yuntai_tilt_roll,
+		(ParamFloat<px4::params::YT_TILT_ROLL>) _param_yuntai_tilt_pitch,
+
 		(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau
 	)
 };

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -327,11 +327,21 @@ MulticopterAttitudeControl::Run()
 			_v_rates_sp_pub.publish(v_rates_sp);
 		}
 
+
 		// reset yaw setpoint during transitions, tailsitter.cpp generates
 		// attitude setpoint for the transition
 		_reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode);
 	}
 
+	const Quatf vehicle_att_q{v_att.q};
+	Eulerf vehicle_att_eulerf{vehicle_att_q};
+
+	_acutator_rp.control[actuator_controls_s::INDEX_ROLL] = (float)vehicle_att_eulerf.phi() * (_param_yuntai_tilt_roll.get());
+	_acutator_rp.control[actuator_controls_s::INDEX_PITCH] = vehicle_att_eulerf.theta() * _param_yuntai_tilt_pitch.get();
+	_acutator_rp.timestamp = hrt_absolute_time();
+	_actuators_1_pub.publish(_acutator_rp);
+
+
 	perf_end(_loop_perf);
 }
 

src/modules/mc_att_control/mc_att_control_params.c

@@ -158,3 +158,29 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
  * @group Multicopter Position Control
  */
 PARAM_DEFINE_FLOAT(MC_MAN_TILT_TAU, 0.0f);
+
+/**
+ * Manual tilt input filter time constant
+ *
+ * Setting this parameter to 0 disables the filter
+ *
+ * @unit s
+ * @min 0.0
+ * @max 12.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(YT_TILT_ROLL, 0.0f);
+
+/**
+ * Manual tilt input filter time constant
+ *
+ * Setting this parameter to 0 disables the filter
+ *
+ * @unit s
+ * @min 0.0
+ * @max 10.0
+ * @decimal 2
+ * @group Multicopter Position Control
+ */
+PARAM_DEFINE_FLOAT(YT_TILT_PITCH, 0.5f);