Fixed-wing takeoff and landing revisions

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
@@ -41,7 +40,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 15
@@ -27,7 +26,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,9 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
@@ -34,7 +33,6 @@ param set-default FW_T_TAS_TC 2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0
 
@@ -31,7 +30,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -31,7 +31,6 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -39,7 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -44,7 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -45,7 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -43,7 +43,6 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10
 
 param set-default MIS_DIST_WPS 5000
-param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
 
 #

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

msg/CMakeLists.txt

@@ -109,6 +109,7 @@ set(msg_files
 	IridiumsbdStatus.msg
 	IrlockReport.msg
 	LandingGear.msg
+	LandingGearWheel.msg
 	LandingTargetInnovations.msg
 	LandingTargetPose.msg
 	LedControl.msg

msg/LandingGearWheel.msg

@@ -0,0 +1,3 @@
+uint64 timestamp # time since system start (microseconds)
+
+float32 normalized_wheel_setpoint	# negative is turning left, positive turning right [-1, 1]

msg/VehicleAttitudeSetpoint.msg

@@ -15,7 +15,7 @@ float32[3] thrust_body		# Normalized thrust command in body NED frame [-1,1]
 
 bool reset_integral	# Reset roll/pitch/yaw integrals (navigation logic change)
 
-bool fw_control_yaw		# control heading with rudder (used for auto takeoff on runway)
+bool fw_control_yaw_wheel	# control heading with steering wheel (used for auto takeoff on runway)
 
 uint8 apply_flaps       	# flap config specifier
 uint8 FLAPS_OFF = 0     	# no flaps

src/lib/mixer_module/functions/FunctionLandingGearWheel.hpp

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "FunctionProviderBase.hpp"
+
+#include <uORB/topics/landing_gear_wheel.h>
+
+/**
+ * Functions: Landing_Gear_Wheel
+ */
+class FunctionLandingGearWheel : public FunctionProviderBase
+{
+public:
+	FunctionLandingGearWheel() = default;
+	static FunctionProviderBase *allocate(const Context &context) { return new FunctionLandingGearWheel(); }
+
+	void update() override
+	{
+		landing_gear_wheel_s landing_gear_wheel;
+
+		if (_topic.update(&landing_gear_wheel)) {
+			_data = landing_gear_wheel.normalized_wheel_setpoint;
+		}
+	}
+
+	float value(OutputFunction func) override { return _data; }
+
+private:
+	uORB::Subscription _topic{ORB_ID(landing_gear_wheel)};
+	float _data{0.f};
+};

src/lib/mixer_module/mixer_module.cpp

@@ -59,6 +59,7 @@ static const FunctionProvider all_function_providers[] = {
 	{OutputFunction::Servo1, OutputFunction::ServoMax, &FunctionServos::allocate},
 	{OutputFunction::Offboard_Actuator_Set1, OutputFunction::Offboard_Actuator_Set6, &FunctionActuatorSet::allocate},
 	{OutputFunction::Landing_Gear, &FunctionLandingGear::allocate},
+	{OutputFunction::Landing_Gear_Wheel, &FunctionLandingGearWheel::allocate},
 	{OutputFunction::Parachute, &FunctionParachute::allocate},
 	{OutputFunction::Gripper, &FunctionGripper::allocate},
 	{OutputFunction::RC_Roll, OutputFunction::RC_AUXMax, &FunctionManualRC::allocate},

src/lib/mixer_module/mixer_module.hpp

@@ -41,6 +41,7 @@
 #include "functions/FunctionGimbal.hpp"
 #include "functions/FunctionGripper.hpp"
 #include "functions/FunctionLandingGear.hpp"
+#include "functions/FunctionLandingGearWheel.hpp"
 #include "functions/FunctionManualRC.hpp"
 #include "functions/FunctionMotors.hpp"
 #include "functions/FunctionParachute.hpp"

src/lib/mixer_module/output_functions.yaml

@@ -36,6 +36,8 @@ functions:
 
     Gripper: 430
 
+    Landing_Gear_Wheel: 440
+
     # Add your own here:
     #MyCustomFunction: 10000