Where would I change vectored thrust mixing in the source code?

iampete · June 7, 2021, 10:43pm

Scripting is a great way to do such things as this, you can use a servo override with a short time out and run the script at 10hz or something.

See:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/servo_set_get.lua

-- Testing set_output_pwm_chan_timeout and get_output_pwm
--
-- This will set MAIN1 servo to 1700 pwm for 1 second,
-- then assigned function behavior for 1 second, and then 1100 pwm for 1 second

local flipflop = true
local K_AILERON = 4
local aileron_channel = SRV_Channels:find_channel(K_AILERON)

function update()
    if flipflop then
        SRV_Channels:set_output_pwm_chan_timeout(aileron_channel, 1700, 1000)
        gcs:send_text(6, "flip---")
    else
        SRV_Channels:set_output_pwm_chan_timeout(aileron_channel, 1100, 1000)
        gcs:send_text(6, "---flop")
    end
    flipflop = not flipflop
    output_pwm = SRV_Channels:get_output_pwm(K_AILERON)
    gcs:send_text(6, "Function "..K_AILERON..", channel "..aileron_channel..", output "..output_pwm)

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you could set it up on a RC switch, speed threshold, throttle threshold, whatever.

Albcem · June 8, 2021, 10:42am

Thank you Peter. I have used scriptiing before and yes your suggestion should work. I will use it as an interim solution,

However, as a general feature it would be interesting for ArduPlane to accept a mask for which motors should remain active or shut down in horizonal mode. There could be interest in this… I will see if I can figure it out and share it with the community.

Best regards

iampete · June 8, 2021, 9:10pm

This is what the TILT_MASK should be, I think the issue you have is you would prefer the stowed position to be forwards not up?

Albcem · June 9, 2021, 12:32am

Yes, I guess this is a way to think about it, but it may lead to confusion.

Tô calrify my thoughts, I am thinking about having a separate mask from TILT_MASK. We may call it FW_PROPULSION_MASK which communicates which rotors will be active during Fixed Wing flight after they take their forwards positions.

Albcem · June 9, 2021, 6:26pm

Thanks Peter,

Just implemented the script which triggers the motors shut off when the tilt servo PWM value are within the desired threshold.

Best

Cem