UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-24 15:27:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(actuators): increase servo channel count from 8 to 15

Browse Source 
Bumps NUM_CONTROLS/MAX_ACTUATORS from 8 to 15 across all layers.

Signed-off-by: alexcekay <alexander@auterion.com>
This commit is contained in:
alexcekay
2026-05-22 15:55:43 +02:00
committed by Alexander Lerach
parent 9e27a3c5e1
commit 13868013d2
11 changed files with 79 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
msg/ActuatorServosTrim.msg
View File

@@ -1,5 +1,5 @@
# Servo trims, added as offset to servo outputs
uint64 timestamp # time since system start (microseconds)
uint8 NUM_CONTROLS = 8
float32[8] trim # range: [-1, 1]
uint8 NUM_CONTROLS = 15
float32[15] trim # range: [-1, 1]

2
msg/ActuatorTest.msg
View File

@@ -8,7 +8,7 @@ uint8 ACTION_DO_CONTROL = 1 # enable actuator test mode
uint8 FUNCTION_MOTOR1 = 101
uint8 MAX_NUM_MOTORS = 12
uint8 FUNCTION_SERVO1 = 201
uint8 MAX_NUM_SERVOS = 8
uint8 MAX_NUM_SERVOS = 15
uint8 action # one of ACTION_*
uint16 function # actuator output function

12
msg/px4_msgs_old/msg/ActuatorServosV0.msg Normal file
View File

@@ -0,0 +1,12 @@
# Servo control message
#
# Normalised output setpoint for up to 8 servos.
# Published by the vehicle's allocation and consumed by the actuator output drivers.
uint32 MESSAGE_VERSION = 0
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

1
msg/translation_node/translations/all_translations.h
View File

@@ -6,6 +6,7 @@
#include <translation_util.h>
#include "translation_actuator_servos_v1.h"
#include "translation_airspeed_validated_v1.h"
#include "translation_aux_global_position_v1.h"
#include "translation_arming_check_reply_v1.h"

45
msg/translation_node/translations/translation_actuator_servos_v1.h Normal file
View File

@@ -0,0 +1,45 @@
/****************************************************************************
* Copyright (c) 2026 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate ActuatorServos v0 <--> v1
#include <px4_msgs_old/msg/actuator_servos_v0.hpp>
#include <px4_msgs/msg/actuator_servos.hpp>
class ActuatorServosV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::ActuatorServosV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::ActuatorServos;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/actuator_servos";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.timestamp_sample = msg_older.timestamp_sample;
for (int i = 0; i < 8; ++i) {
msg_newer.control[i] = msg_older.control[i];
}
// Channels 8-14 did not exist in v0; treat as disarmed
for (int i = 8; i < 15; ++i) {
msg_newer.control[i] = NAN;
}
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.timestamp_sample = msg_newer.timestamp_sample;
for (int i = 0; i < 8; ++i) {
msg_older.control[i] = msg_newer.control[i];
}
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(ActuatorServosV1Translation);

8
msg/versioned/ActuatorServos.msg
View File

@@ -1,12 +1,12 @@
# Servo control message
#
# Normalised output setpoint for up to 8 servos.
# Normalised output setpoint for up to 15 servos.
# Published by the vehicle's allocation and consumed by the actuator output drivers.
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
uint8 NUM_CONTROLS = 8
float32[8] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.
uint8 NUM_CONTROLS = 15
float32[15] control # [-] [@range -1, 1] Normalized output. 1 means maximum positive position. -1 maximum negative position (if not supported by the output, <0 maps to NaN). NaN maps to disarmed.

2
src/drivers/uavcan/actuators/servo.hpp
View File

@@ -45,7 +45,7 @@
class UavcanServoController
{
public:
static constexpr int MAX_ACTUATORS = 8;
static constexpr int MAX_ACTUATORS = 15;
static constexpr unsigned MAX_RATE_HZ = 50;
static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 6; ///< 0..31, inclusive, 0 - highest, 31 - lowest

3
src/drivers/uavcan/module.yaml
View File

@@ -1,4 +1,5 @@
__max_num_uavcan_lights: &max_num_uavcan_lights 2 # NOTE: This value must match MAX_NUM_UAVCAN_LIGHTS in rgbled.hpp
__max_num_uavcan_servos: &max_num_uavcan_servos 15 # NOTE: This value must match MAX_ACTUATORS in actuators/servo.hpp
module_name: UAVCAN
@@ -97,4 +98,4 @@ actuator_output:
min: { min: 0, max: 1000, default: 0 }
max: { min: 0, max: 1000, default: 1000 }
failsafe: { min: 0, max: 1000 }
num_channels: 8
num_channels: *max_num_uavcan_servos

2
src/drivers/voxl2_io/voxl2_io.cpp
View File

@@ -158,7 +158,7 @@ int Voxl2IO::load_params(voxl2_io_params_t *params)
// PWM output functions
//0: disabled, 1: constant min, 2: constant max
//101-112: motors, 201-208: servos, 402: RC Roll, 403: RC Pitch, 404: RC Throttle,
//101-112: motors, 201-215: servos, 402: RC Roll, 403: RC Pitch, 404: RC Throttle,
//405: RC Yaw, 406: RC Flaps, 407-412: RC AUX 1-6, 420-422: Gimbal RPY
param_get(param_find("VOXL2_IO_FUNC1"), &params->function_map[0]);
param_get(param_find("VOXL2_IO_FUNC2"), &params->function_map[1]);

2
src/lib/mixer_module/output_functions.yaml
View File

@@ -12,7 +12,7 @@ functions:
count: 12
Servo:
start: 201
count: 8
count: 15
Peripheral_via_Actuator_Set:
start: 301
count: 6

17
src/modules/control_allocator/module.yaml
View File

@@ -1,5 +1,6 @@
__max_num_mc_motors: &max_num_mc_motors 12
__max_num_servos: &max_num_servos 8
__max_num_servos: &max_num_servos 15
__max_num_control_surfaces: &max_num_control_surfaces 8
__max_num_tilts: &max_num_tilts 4
module_name: Control Allocation
@@ -278,7 +279,7 @@ parameters:
16: Steering Wheel
17: Left Spoiler
18: Right Spoiler
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0
@@ -287,7 +288,7 @@ parameters:
short: Control Surface ${i} roll torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0.0
@@ -296,7 +297,7 @@ parameters:
short: Control Surface ${i} pitch torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0.0
@@ -305,7 +306,7 @@ parameters:
short: Control Surface ${i} yaw torque scaling
type: float
decimal: 2
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0.0
@@ -321,7 +322,7 @@ parameters:
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0.0
@@ -332,7 +333,7 @@ parameters:
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0
@@ -352,7 +353,7 @@ parameters:
decimal: 2
min: -1.0
max: 1.0
num_instances: *max_num_servos
num_instances: *max_num_control_surfaces
instance_start: 0
default: 0