Merge pull request #9 from iq-motion-control/feature/update_params_co…

…pyrights

updates for serial reliability, update all copyright dates, update ve…

.gitmodules

@@ -85,4 +85,5 @@
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
 [submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
 	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/iq-motion-control/iq-module-communication-cpp.git
+	url = https://github.com/PX4/iq-module-communication-cpp.git
+	branch = master

src/drivers/actuators/vertiq_io/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2024 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

src/drivers/actuators/vertiq_io/entry_wrapper.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
-*   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+*   Copyright (c) 2024 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

src/drivers/actuators/vertiq_io/module.yaml

@@ -7,9 +7,10 @@ serial_config:
 
 actuator_output:
   output_groups:
-    - param_prefix: VERTIQ_IO
-      group_label: 'ESCs'
-      channel_label: 'ESC'
+    - param_prefix: VTQ_IO
+      group_label: 'CVIs'
+      channel_label: 'CVI'
+      instance_start: 0
       standard_params:
         disarmed: { min: 0, max: 65535, default: 0 }
         min: { min: 0, max: 65535, default: 0 }
@@ -20,15 +21,15 @@ actuator_output:
 parameters:
     - group: Vertiq IO
       definitions:
-        VERTIQ_BAUD:
+        VTQ_BAUD:
             description:
                 short: The IQUART driver's baud rate
                 long: |
                     The baud rate (in bits per second) used by the serial port connected with IQUART communication
             type: int32
             reboot_required: true
             default: 115200
-        VERTIQ_NUM_CVS:
+        VTQ_NUM_CVS:
             description:
               short: The number of Vertiq IFCI parameters to use
               long: |
@@ -38,28 +39,27 @@ parameters:
             max: 16
             reboot_required: true
             default: 0
-        DISARM_TRIGGER:
+        VTQ_DISARM_TRIG:
             description:
                 short: The triggered behavior sent to the motors on PX4 disarm
                 long: |
                     The behavior triggered when the flight controller disarms. You have the option to trigger your motors' disarm behaviors, set all motors to coast,
                     or set a predefined throttle setpoint
             type: enum
             values:
-                0: Use Mixer Defined Value
-                1: Send Explicit Disarm
-                2: Coast Motors
-                3: Set Predefined Velocity Setpoint
+                0: Send Explicit Disarm
+                1: Coast Motors
+                2: Set Predefined Velocity Setpoint
             default: 0
-        DISARM_VELO:
+        VTQ_DISARM_VELO:
             description:
                 short: Velocity sent when DISARM_TRIGGER is Set Predefined Velocity Setpoint
                 long: This is the velocity that will be sent to all motors when PX4 is disarmed and DISARM_TRIGGER is Set Predefined Velocity Setpoint
             type: int32
             min: 0
             max: 100
             default: 0
-        ARMING_BEHAVE:
+        VTQ_ARM_BEHAVE:
             description:
                 short: The triggered behavior on PX4 arm
                 long: |
@@ -69,7 +69,7 @@ parameters:
                 0: Use Motor Arm Behavior
                 1: Send Explicit Arm Command
             default: 0
-        TARGET_MODULE_ID:
+        VTQ_TRGT_MOD_ID:
             description:
                 short: The Module ID of the module you would like to communicate with
                 long: |
@@ -78,15 +78,15 @@ parameters:
                     use this value to instantiate itself.
             type: int32
             default: 0
-        TRIGGER_READ:
+        VTQ_REDO_READ:
             description:
                 short: Reinitialize the target module's values into the PX4 parameters
                 long: |
                     Setting this value to true will reinitialize PX4's IQUART connected parameters to the value stored on the currently targeted motor.
                     This is especially useful if your flight controller powered on before your connected modules
             type: boolean
             default: 0
-        THROTTLE_CVI:
+        VTQ_THROTTLE_CVI:
             description:
                 short: Module Param - The module's Throttle Control Value Index
                 long: |
@@ -95,7 +95,7 @@ parameters:
             min: 0
             max: 255
             default: 0
-        CONTROL_MODE:
+        VTQ_CONTROL_MODE:
             description:
                 short: Module Param - The module's control mechanism
                 long: |
@@ -111,21 +111,21 @@ parameters:
                 1: Voltage
                 2: Velocity
             default: 0
-        MAX_VELOCITY:
+        VTQ_MAX_VELOCITY:
             description:
                 short: Module Param - Maximum velocity when CONTROL_MODE is set to Velocity
                 long: |
                     Only relevant in Velocity Mode. This is the velocity the controller will command at full throttle.
             type: float
             default: 0
-        MAX_VOLTS:
+        VTQ_MAX_VOLTS:
             description:
                 short: Module Param - Maximum voltage when CONTROL_MODE is set to Voltage
                 long: |
                     Only relevant in Voltage Mode. This is the voltage the controller will command at full throttle.
             type: float
             default: 0
-        VERTIQ_MOTOR_DIR:
+        VTQ_MOTOR_DIR:
             description:
                 short: Module Param - The direction that the module should spin
                 long: |
@@ -138,7 +138,7 @@ parameters:
                 3: 2D Counter Clockwise
                 4: 2D Clockwise
             default: 0
-        VERTIQ_FC_DIR:
+        VTQ_FC_DIR:
             description:
                 short: Module Param - If the flight controller uses 2D or 3D communication
                 long: |
@@ -149,28 +149,28 @@ parameters:
                 0: 2D
                 1: 3D
             default: 0
-        ZERO_ANGLE:
+        VTQ_ZERO_ANGLE:
             description:
                 short: Module Param - The encoder angle at which theta is zero
                 long: |
                     The encoder angle at which theta is zero. Adjust this number to change the location of 0 phase when pulsing.
             type: float
             default: 0
-        VELOCITY_CUTOFF:
+        VTQ_VELO_CUTOFF:
             description:
                 short: Module Param - The minimum velocity required to allow pulsing
                 long: |
                     This is the velocity at which pulsing is allowed. Any velocity between VELOCITY_CUTOFF and -VELOCITY_CUTOFF will not pulse.
             type: float
             default: 0
-        TORQUE_OFF_ANGLE:
+        VTQ_TQUE_OFF_ANG:
             description:
                 short: Module Param - Offsets pulse angle to allow for mechanical properties
                 long: |
                     This offsets where the pulse starts around the motor to allow for propeller mechanical properties.
             type: float
             default: 0
-        PULSE_VOLT_MODE:
+        VTQ_PULSE_V_MODE:
             description:
                 short: Module Param - 0 = Supply Voltage Mode, 1 = Voltage Limit Mode
                 long: |
@@ -181,14 +181,14 @@ parameters:
                 0: Supply Voltage Mode
                 1: Voltage Limit Mode
             default: 0
-        PULSE_VOLT_LIM:
+        VTQ_PULSE_V_LIM:
             description:
                 short: Module Param - Max pulsing voltage limit when in Voltage Limit Mode
                 long: |
                     This sets the max pulsing voltage limit when in Voltage Limit Mode.
             type: float
             default: 0
-        X_CVI:
+        VTQ_X_CVI:
             description:
                 short: Module Param - CVI for the X rectangular coordinate
                 long: |
@@ -197,7 +197,7 @@ parameters:
             min: 0
             max: 255
             default: 0
-        Y_CVI:
+        VTQ_Y_CVI:
             description:
                 short: Module Param - CVI for the Y rectangular coordinate
                 long: |
@@ -206,7 +206,7 @@ parameters:
             min: 0
             max: 255
             default: 0
-        TELEM_IDS_1:
+        VTQ_TELEM_IDS_1:
             description:
                 short: Module IDs [0, 31] that you would like to request telemetry from
                 long: |
@@ -247,7 +247,7 @@ parameters:
                 31: Module ID 31
             reboot_required: true
             default: 0
-        TELEM_IDS_2:
+        VTQ_TELEM_IDS_2:
             description:
                 short: Module IDs [32, 62] that you would like to request telemetry from
                 long: |

src/drivers/actuators/vertiq_io/vertiq_client_manager.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 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

src/drivers/actuators/vertiq_io/vertiq_client_manager.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 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

src/drivers/actuators/vertiq_io/vertiq_configuration_handler.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 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
@@ -62,27 +62,27 @@ void VertiqConfigurationHandler::InitConfigurationClients(uint8_t object_id)
 
 void VertiqConfigurationHandler::InitClientEntryWrappers()
 {
-	AddNewClientEntry<float, float>(param_find("MAX_VELOCITY"), &(_prop_input_parser_client->velocity_max_));
-	AddNewClientEntry<float, float>(param_find("MAX_VOLTS"), &(_prop_input_parser_client->volts_max_));
-	AddNewClientEntry<uint8_t, int32_t>(param_find("CONTROL_MODE"), &(_prop_input_parser_client->mode_));
-	AddNewClientEntry<uint8_t, int32_t>(param_find("VERTIQ_MOTOR_DIR"), &(_prop_input_parser_client->sign_));
-	AddNewClientEntry<uint8_t, int32_t>(param_find("VERTIQ_FC_DIR"), &(_prop_input_parser_client->flip_negative_));
+	AddNewClientEntry<float, float>(param_find("VTQ_MAX_VELOCITY"), &(_prop_input_parser_client->velocity_max_));
+	AddNewClientEntry<float, float>(param_find("VTQ_MAX_VOLTS"), &(_prop_input_parser_client->volts_max_));
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_CONTROL_MODE"), &(_prop_input_parser_client->mode_));
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_MOTOR_DIR"), &(_prop_input_parser_client->sign_));
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_FC_DIR"), &(_prop_input_parser_client->flip_negative_));
 
 #ifdef CONFIG_USE_IFCI_CONFIGURATION
-	AddNewClientEntry<uint8_t, int32_t>(param_find("THROTTLE_CVI"), &(_ifci_client->throttle_cvi_));
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_THROTTLE_CVI"), &(_ifci_client->throttle_cvi_));
 #endif //CONFIG_USE_IFCI_CONFIGURATION
 
 #ifdef CONFIG_USE_PULSING_CONFIGURATION
-	AddNewClientEntry<uint8_t, int32_t> (param_find("PULSE_VOLT_MODE"),
+	AddNewClientEntry<uint8_t, int32_t> (param_find("VTQ_PULSE_V_MODE"),
 					     &(_pulsing_rectangular_input_parser_client->pulsing_voltage_mode_));
-	AddNewClientEntry<uint8_t, int32_t>(param_find("X_CVI"), &(_ifci_client->x_cvi_));
-	AddNewClientEntry<uint8_t, int32_t>(param_find("Y_CVI"), &(_ifci_client->y_cvi_));
-	AddNewClientEntry<float, float>(param_find("ZERO_ANGLE"), &(_voltage_superposition_client->zero_angle_));
-	AddNewClientEntry<float, float>(param_find("VELOCITY_CUTOFF"),
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_X_CVI"), &(_ifci_client->x_cvi_));
+	AddNewClientEntry<uint8_t, int32_t>(param_find("VTQ_Y_CVI"), &(_ifci_client->y_cvi_));
+	AddNewClientEntry<float, float>(param_find("VTQ_ZERO_ANGLE"), &(_voltage_superposition_client->zero_angle_));
+	AddNewClientEntry<float, float>(param_find("VTQ_VELO_CUTOFF"),
 					&(_voltage_superposition_client->velocity_cutoff_));
-	AddNewClientEntry<float, float>(param_find("TORQUE_OFF_ANGLE"),
+	AddNewClientEntry<float, float>(param_find("VTQ_TQUE_OFF_ANG"),
 					&(_voltage_superposition_client->propeller_torque_offset_angle_));
-	AddNewClientEntry<float, float>(param_find("PULSE_VOLT_LIM"),
+	AddNewClientEntry<float, float>(param_find("VTQ_PULSE_V_LIM"),
 					&(_pulsing_rectangular_input_parser_client->pulsing_voltage_limit_));
 #endif //CONFIG_USE_PULSING_CONFIGURATION
 }

src/drivers/actuators/vertiq_io/vertiq_configuration_handler.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
-*   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+*   Copyright (c) 2024 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

src/drivers/actuators/vertiq_io/vertiq_io.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2024 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
@@ -213,10 +213,6 @@ bool VertiqIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	} else {
 		//Put the modules into coast
 		switch (_param_vertiq_disarm_behavior.get()) {
-		case USER_MIXER_VALUE:
-			OutputControls(outputs);
-			break;
-
 		case TRIGGER_MOTOR_DISARM:
 			_broadcast_arming_handler.motor_armed_.set(*_serial_interface.GetIquartInterface(), 0);
 			break;