Switch

msg/commander_state.msg

@@ -17,5 +17,6 @@ uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_AUTO_PRECLAND = 13
 uint8 MAIN_STATE_ORBIT = 14
 uint8 MAIN_STATE_MAX = 15
+uint8 MAIN_STATE_TILT = 16 
 
 uint8 main_state		    	# main state machine

msg/manual_control_setpoint.msg

@@ -65,3 +65,4 @@ uint8 mode_slot			 # the slot a specific model selector is in
 uint8 data_source		 # where this input is coming from
 uint8 stab_switch 		 # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
 uint8 man_switch		 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
+uint8 tilt_switch		 # tilt enabled 2 position switch (optional): _MANUAL, TILT

msg/rc_channels.msg

@@ -27,11 +27,12 @@ uint8 RC_CHANNELS_FUNCTION_ARMSWITCH=23
 uint8 RC_CHANNELS_FUNCTION_STAB=24
 uint8 RC_CHANNELS_FUNCTION_AUX_6=25
 uint8 RC_CHANNELS_FUNCTION_MAN=26
+uint8 RC_CHANNELS_FUNCTION_TILT=27
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels
-int8[27] function						# Functions mapping
+int8[28] function						# Functions mapping
 uint8 rssi							# Receive signal strength index
 bool signal_lost						# Control signal lost, should be checked together with topic timeout
 uint32 frame_drop_count						# Number of dropped frames

msg/vehicle_control_mode.msg

@@ -18,3 +18,4 @@ bool flag_control_altitude_enabled		# true if altitude is controlled
 bool flag_control_climb_rate_enabled		# true if climb rate is controlled
 bool flag_control_termination_enabled		# true if flighttermination is enabled
 bool flag_control_fixed_hdg_enabled			# true if using a fixed heading for user control
+bool flag_control_tilt_enabled		# true if the mode tilt rotor is enabled

msg/vehicle_status.msg

@@ -44,6 +44,7 @@ uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19	# Auto Follow
 uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20	# Precision land with landing target
 uint8 NAVIGATION_STATE_ORBIT = 21       # Orbit in a circle
 uint8 NAVIGATION_STATE_MAX = 22
+uint8 NAVIGATION_STATE_TILT= 23			# Tilt rotor mode	
 
 uint8 RC_IN_MODE_DEFAULT = 0
 uint8 RC_IN_MODE_OFF = 1

src/drivers/rc_input/crsf_telemetry.cpp

@@ -186,6 +186,10 @@ bool CRSFTelemetry::send_flight_mode()
 	case vehicle_status_s::NAVIGATION_STATE_RATTITUDE:
 		flight_mode = "Rattitude";
 		break;
+
+	case vehicle_status_s::NAVIGATION_STATE_TILT:
+		flight_mode = "Tilt";
+		break;
 	}
 
 	return crsf_send_telemetry_flight_mode(_uart_fd, flight_mode);

src/modules/commander/Commander.cpp

@@ -403,6 +403,9 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
 				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO,
 						     PX4_CUSTOM_SUB_MODE_AUTO_PRECLAND);
 
+			} else if (!strcmp(argv[2], "tilt")) {
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_TILT);
+
 			} else {
 				PX4_ERR("argument %s unsupported.", argv[2]);
 			}
@@ -673,6 +676,10 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
 
 					/* OFFBOARD */
 					main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_OFFBOARD, status_flags, &_internal_state);
+
+			} else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_TILT) {
+					/* MANUAL */
+					main_ret = main_state_transition(*status_local, commander_state_s::MAIN_STATE_TILT, status_flags, &_internal_state);
 				}
 
 			} else {
@@ -3196,13 +3203,23 @@ Commander::update_control_mode()
 			&& !status.is_vtol);
 
 	switch (status.nav_state) {
+
+	case vehicle_status_s::NAVIGATION_STATE_TILT:
+		control_mode.flag_control_tilt_enabled = true;
+		control_mode.flag_control_manual_enabled = true;
+        control_mode.flag_control_rates_enabled = true;
+        control_mode.flag_control_attitude_enabled = true;
+		break;
+
 	case vehicle_status_s::NAVIGATION_STATE_MANUAL:
+		control_mode.flag_control_tilt_enabled = false;
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_rates_enabled = stabilization_required();
 		control_mode.flag_control_attitude_enabled = stabilization_required();
 		break;
 
 	case vehicle_status_s::NAVIGATION_STATE_STAB:
+        control_mode.flag_control_tilt_enabled = true;
 		control_mode.flag_control_manual_enabled = true;
 		control_mode.flag_control_rates_enabled = true;
 		control_mode.flag_control_attitude_enabled = true;

src/modules/commander/commander_params.c

@@ -389,6 +389,7 @@ PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */
@@ -413,6 +414,7 @@ PARAM_DEFINE_INT32(COM_FLTMODE1, -1);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */
@@ -437,6 +439,7 @@ PARAM_DEFINE_INT32(COM_FLTMODE2, -1);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */
@@ -461,6 +464,7 @@ PARAM_DEFINE_INT32(COM_FLTMODE3, -1);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */
@@ -485,6 +489,7 @@ PARAM_DEFINE_INT32(COM_FLTMODE4, -1);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */
@@ -509,6 +514,7 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
  * @value 7 Offboard
  * @value 8 Stabilized
  * @value 9 Rattitude
+ * @value 10 Tilt
  * @value 12 Follow Me
  * @group Commander
  */

src/modules/commander/px4_custom_mode.h

@@ -51,7 +51,8 @@ enum PX4_CUSTOM_MAIN_MODE {
 	PX4_CUSTOM_MAIN_MODE_OFFBOARD,
 	PX4_CUSTOM_MAIN_MODE_STABILIZED,
 	PX4_CUSTOM_MAIN_MODE_RATTITUDE,
-	PX4_CUSTOM_MAIN_MODE_SIMPLE /* unused, but reserved for future use */
+	PX4_CUSTOM_MAIN_MODE_SIMPLE, /* unused, but reserved for future use */
+	PX4_CUSTOM_MAIN_MODE_TILT
 };
 
 enum PX4_CUSTOM_SUB_MODE_AUTO {

src/modules/commander/state_machine_helper.cpp

@@ -266,6 +266,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
 	case commander_state_s::MAIN_STATE_MANUAL:
 	case commander_state_s::MAIN_STATE_STAB:
 	case commander_state_s::MAIN_STATE_ACRO:
+	case commander_state_s::MAIN_STATE_TILT:
 	case commander_state_s::MAIN_STATE_RATTITUDE:
 		ret = TRANSITION_CHANGED;
 		break;
@@ -698,6 +699,12 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
 		} else {
 			status->nav_state = vehicle_status_s::NAVIGATION_STATE_OFFBOARD;
 		}
+		break;
+
+	case commander_state_s::MAIN_STATE_TILT:
+		status->nav_state = vehicle_status_s::NAVIGATION_STATE_TILT;
+		break;
+
 
 	default:
 		break;

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -182,6 +182,7 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 		(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
 
 		(ParamFloat<px4::params::FW_RATT_TH>) _param_fw_ratt_th,
+		(ParamFloat<px4::params::FW_TILT_TH>) _param_fw_tilt_th,
 
 		(ParamFloat<px4::params::FW_R_RMAX>) _param_fw_r_rmax,
 		(ParamFloat<px4::params::FW_R_TC>) _param_fw_r_tc,

src/modules/fw_att_control/fw_att_control_params.c

@@ -662,6 +662,20 @@ PARAM_DEFINE_FLOAT(FW_ACRO_Z_MAX, 45);
  */
 PARAM_DEFINE_FLOAT(FW_RATT_TH, 0.8f);
 
+/**
+ * Threshold for Tilt mode
+ *
+ * Manual input needed in order to override attitude control rate setpoints
+ * and instead pass manual stick inputs as rate setpoints
+ *
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_TILT_TH, 0.9f);
+
 /**
 * Roll trim increment at minimum airspeed
 *

src/modules/mc_att_control/mc_att_control.hpp

@@ -55,6 +55,8 @@
 #include <uORB/topics/vehicle_land_detected.h>
 #include <vtol_att_control/vtol_type.h>
 #include <lib/ecl/AlphaFilter/AlphaFilter.hpp>
+#include <uORB/uORB.h>
+#include <uORB/topics/manual_control_setpoint.h>
 
 #include <AttitudeControl.hpp>
 
@@ -134,6 +136,9 @@ class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>
 
 	uint8_t _quat_reset_counter{0};
 
+    int vehicle_control_mode_sp_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
+    struct vehicle_control_mode_s vehicle_control_mode_sp {};
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MC_ROLL_P>) _param_mc_roll_p,
 		(ParamFloat<px4::params::MC_PITCH_P>) _param_mc_pitch_p,

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -44,7 +44,6 @@
  */
 
 #include "mc_att_control.hpp"
-
 #include <drivers/drv_hrt.h>
 #include <mathlib/math/Limits.hpp>
 #include <mathlib/math/Functions.hpp>
@@ -162,7 +161,13 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
 	Quatf q_sp_rpy = AxisAnglef(v(0), v(1), 0.f);
 	Eulerf euler_sp = q_sp_rpy;
 	attitude_setpoint.roll_body = euler_sp(0);
-    attitude_setpoint.pitch_body = math::constrain(euler_sp(1),0.0f,1000.0f);
+    orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sp_sub_fd, &vehicle_control_mode_sp);
+    bool _tilt_enabled=vehicle_control_mode_sp.flag_control_tilt_enabled;
+    if(_tilt_enabled==true){
+        attitude_setpoint.pitch_body = math::constrain(euler_sp(1),0.0f,1000.0f);
+    } else {
+        attitude_setpoint.pitch_body = euler_sp(1);
+    }
 	// The axis angle can change the yaw as well (noticeable at higher tilt angles).
 	// This is the formula by how much the yaw changes:
 	//   let a := tilt angle, b := atan(y/x) (direction of maximum tilt)

src/modules/mc_att_control/mc_att_control_params.c

@@ -164,6 +164,20 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
  */
 PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
 
+/**
+ * Threshold for Tilt mode
+ *
+ * Manual input needed in order to override attitude control rate setpoints
+ * and instead pass manual stick inputs as rate setpoints
+ *
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(MC_TILT_TH, 0.9f);
+
 /**
  * Manual tilt input filter time constant
  * Setting this parameter to 0 disables the filter

src/modules/rc_update/params.c

@@ -1726,6 +1726,34 @@ PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
  */
 PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
 
+/**
+ * Tilt switch channel
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Switches
+ * @value 0 Unassigned
+ * @value 1 Channel 1
+ * @value 2 Channel 2
+ * @value 3 Channel 3
+ * @value 4 Channel 4
+ * @value 5 Channel 5
+ * @value 6 Channel 6
+ * @value 7 Channel 7
+ * @value 8 Channel 8
+ * @value 9 Channel 9
+ * @value 10 Channel 10
+ * @value 11 Channel 11
+ * @value 12 Channel 12
+ * @value 13 Channel 13
+ * @value 14 Channel 14
+ * @value 15 Channel 15
+ * @value 16 Channel 16
+ * @value 17 Channel 17
+ * @value 18 Channel 18
+ */
+PARAM_DEFINE_INT32(RC_MAP_TILT_SW, 0);
+
 /**
  * AUX1 Passthrough RC channel
  *
@@ -2227,4 +2255,20 @@ PARAM_DEFINE_FLOAT(RC_STAB_TH, 0.5f);
  * @max 1
  * @group Radio Switches
  */
+ PARAM_DEFINE_FLOAT(RC_TILT_TH, 0.75f);
+
+/**
+ * Threshold for selecting Tilt mode
+ *
+ * 0-1 indicate where in the full channel range the threshold sits
+ * 		0 : min
+ * 		1 : max
+ * sign indicates polarity of comparison
+ * 		positive : true when channel>th
+ * 		negative : true when channel<th
+ *
+ * @min -1
+ * @max 1
+ * @group Radio Switches
+ */
 PARAM_DEFINE_FLOAT(RC_MAN_TH, 0.75f);

src/modules/rc_update/rc_update.cpp

@@ -160,6 +160,7 @@ RCUpdate::update_rc_functions()
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_STAB] = _param_rc_map_stab_sw.get() - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_MAN] = _param_rc_map_man_sw.get() - 1;
 
+    _rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_TILT] = _param_rc_map_tilt_sw.get() - 1;
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_FLAPS] = _param_rc_map_flaps.get() - 1;
 
 	_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_1] = _param_rc_map_aux1.get() - 1;
@@ -521,6 +522,8 @@ RCUpdate::Run()
 							      _param_rc_stab_th.get(), _param_rc_stab_th.get() < 0.f);
 			manual_control_setpoint.man_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_MAN,
 							     _param_rc_man_th.get(), _param_rc_man_th.get() < 0.f);
+            manual_control_setpoint.tilt_switch = get_rc_sw2pos_position(rc_channels_s::RC_CHANNELS_FUNCTION_TILT,
+                    _param_rc_tilt_th.get(), _param_rc_tilt_th.get() < 0.f);
 
 			/* publish manual_control_setpoint topic */
 			_manual_control_setpoint_pub.publish(manual_control_setpoint);

src/modules/rc_update/rc_update.h

@@ -195,6 +195,7 @@ class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::W
 		(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
 		(ParamInt<px4::params::RC_MAP_STAB_SW>) _param_rc_map_stab_sw,
 		(ParamInt<px4::params::RC_MAP_MAN_SW>) _param_rc_map_man_sw,
+        (ParamInt<px4::params::RC_MAP_TILT_SW>) _param_rc_map_tilt_sw,
 
 		(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
 		(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,
@@ -219,6 +220,7 @@ class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::W
 		(ParamFloat<px4::params::RC_STAB_TH>) _param_rc_stab_th,
 		(ParamFloat<px4::params::RC_MAN_TH>) _param_rc_man_th,
 		(ParamFloat<px4::params::RC_RETURN_TH>) _param_rc_return_th,
+        (ParamFloat<px4::params::RC_TILT_TH>) _param_rc_tilt_th,
 
 		(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
 	)

src/modules/vtol_att_control/tiltrotor.cpp

@@ -434,9 +434,15 @@ void Tiltrotor::fill_actuator_outputs()
 
 	//AIGHTECH
 
-	orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub_fd, &manual_control_sp);
+    orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub_fd, &manual_control_sp);
+    orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sp_sub_fd, &vehicle_control_mode_sp);
 	_tilt_control=manual_control_sp.x;
-    _actuators_out_0->control[4] = _tilt_control;
+    bool _tilt_enabled=vehicle_control_mode_sp.flag_control_tilt_enabled;
+    if(_tilt_enabled==true){
+        _actuators_out_0->control[4] = _tilt_control;
+    } else {
+        _actuators_out_0->control[4] = 0;
+    }
     //PX4_INFO("%d %d %d", actuator_controls_s::INDEX_ROLL, actuator_controls_s::INDEX_PITCH, actuator_controls_s::INDEX_YAW);
 	if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
 		_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;

src/modules/vtol_att_control/tiltrotor.h

@@ -45,6 +45,7 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/vehicle_control_mode.h>
 class Tiltrotor : public VtolType
 {
 
@@ -106,6 +107,8 @@ class Tiltrotor : public VtolType
 	bool _tilt_motors_for_startup{false};
 	//AIGHTECH
 	int manual_sp_sub_fd = orb_subscribe(ORB_ID(manual_control_setpoint));
+    int vehicle_control_mode_sp_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
+    struct vehicle_control_mode_s vehicle_control_mode_sp {};
 	struct manual_control_setpoint_s manual_control_sp {};
 
 };