432 new mixing system

.github/workflows/pre-release.yml

@@ -16,7 +16,7 @@ jobs:
     - name: checkout submodules
       run: git submodule update --init --recursive
     - name: install toolchain
-      run: sudo apt -y install gcc-arm-none-eabi
+      run: sudo apt -y install gcc-arm-none-eabi libeigen3-dev
     - name: check toolchain
       run: arm-none-eabi-gcc --version
     - name: build varmint

.github/workflows/release.yml

@@ -16,7 +16,7 @@ jobs:
       - name: checkout submodules
         run: git submodule update --init --recursive
       - name: install toolchain
-        run: sudo apt -y install gcc-arm-none-eabi
+        run: sudo apt -y install gcc-arm-none-eabi libeigen3-dev
       - name: check toolchain
         run: arm-none-eabi-gcc --version
       - name: build varmint

.github/workflows/varmint_firmware.yml

@@ -12,7 +12,7 @@ jobs:
     - name: checkout submodules
       run: git submodule update --init --recursive
     - name: install toolchain
-      run: sudo apt -y install gcc-arm-none-eabi
+      run: sudo apt -y install gcc-arm-none-eabi libeigen3-dev
     - name: check toolchain
       run: arm-none-eabi-gcc --version
     - name: build varmint

CMakeLists.txt

@@ -29,6 +29,8 @@ if("${GIT_VERSION_HASH}" STREQUAL "")
 endif()
 
 ### source files ###
+find_package(Eigen3 REQUIRED)
+include_directories(${EIGEN3_INCLUDE_DIRS})
 
 include_directories(
     include

include/command_manager.h

@@ -47,7 +47,7 @@ typedef enum
 {
   RATE,        // Channel is is in rate mode (mrad/s)
   ANGLE,       // Channel command is in angle mode (mrad)
-  THROTTLE,    // Channel is direcly controlling throttle max/1000
+  THROTTLE,    // Channel is controlling throttle setting, which will be converted to force
   PASSTHROUGH, // Channel directly passes PWM input to the mixer
 } control_type_t;
 
@@ -108,7 +108,7 @@ class CommandManager : public ParamListenerInterface
                                            {true, PASSTHROUGH, 0.0},
                                            {true, PASSTHROUGH, 0.0},
                                            {true, PASSTHROUGH, 0.0},
-                                           {true, THROTTLE, 0.0}};
+                                           {true, PASSTHROUGH, 0.0}};
   // clang-format on
 
   typedef enum

include/controller.h

@@ -60,10 +60,12 @@ class Controller : public ParamListenerInterface
   Controller(ROSflight & rf);
 
   inline const Output & output() const { return output_; }
+  inline float max_thrust() const { return max_thrust_; }
 
   void init();
   void run();
 
+  void calculate_max_thrust();
   void calculate_equilbrium_torque_from_rc();
   void param_change_callback(uint16_t param_id) override;
 
@@ -92,8 +94,8 @@ class Controller : public ParamListenerInterface
 
   ROSflight & RF_;
 
-  turbomath::Vector run_pid_loops(uint32_t dt, const Estimator::State & state,
-                                  const control_t & command, bool update_integrators);
+  Controller::Output run_pid_loops(uint32_t dt, const Estimator::State & state,
+                                   const control_t & command, bool update_integrators);
 
   Output output_;
 
@@ -103,6 +105,9 @@ class Controller : public ParamListenerInterface
   PID pitch_rate_;
   PID yaw_rate_;
 
+  float max_thrust_;
+  float max_throttle_;
+
   uint64_t prev_time_us_;
 };
 

include/mixer.h

@@ -34,6 +34,9 @@
 
 #include "interface/param_listener.h"
 
+#include <Eigen/Dense>
+#include <Eigen/SVD>
+
 #include <cstdbool>
 #include <cstdint>
 
@@ -61,9 +64,8 @@ class Mixer : public ParamListenerInterface
     TRICOPTER = 9,
     FIXEDWING = 10,
     PASSTHROUGH = 11,
-    VTAIL = 12,
-    QUADPLANE = 13,
-    CUSTOM = 14,
+    INVERTED_VTAIL = 12,
+    CUSTOM = 13,
     NUM_MIXERS,
     INVALID_MIXER = 255
   };
@@ -121,74 +123,74 @@ class Mixer : public ParamListenerInterface
   const mixer_t quadcopter_plus_mixing = {
     {   M,     M,     M,     M, NONE, NONE, NONE, NONE, NONE, NONE},  // output_type
     { 490,   490,   490,   490,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
-    {1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    {0.0f, -1.0f,  0.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {1.0f,  0.0f, -1.0f,  0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    {1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+    {5098.031218379775, 5098.0312183797805, 5098.031218379778, 5098.0312183797805, 0, 0, 0, 0, 0, 0},
+    {0.0, -40784.24974703961, 0.0, 40784.24974703687, 0, 0, 0, 0, 0, 0},
+    {40784.249747038244, 0.0, -40784.24974703822, 0.0, 0, 0, 0, 0, 0, 0},
+    {223010.98943043666, -223010.98943043654, 223010.98943043666, -223010.98943043657, 0, 0, 0, 0, 0, 0}};
 
   const mixer_t quadcopter_x_mixing = {
     {    M,     M,     M,     M, NONE, NONE, NONE, NONE, NONE, NONE},  // output_type
     {  490,   490,   490,   490,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
-    { 1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    {-1.0f, -1.0f,  1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    { 1.0f, -1.0f, -1.0f,  1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    { 1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+    {5098.031218379779, 5098.03121837978, 5098.031218379777, 5098.031218379782, 0, 0, 0, 0, 0, 0},
+    {-28838.81956173643, -28838.819561736505, 28838.81956173648, 28838.819561736465, 0, 0, 0, 0, 0, 0},
+    {28838.819561736495, -28838.819561736498, -28838.819561736433, 28838.81956173645, 0, 0, 0, 0, 0, 0},
+    {223010.9894304366, -223010.9894304366, 223010.98943043666, -223010.9894304366, 0, 0, 0, 0, 0, 0}};
 
   const mixer_t hex_plus_mixing = {
     {   M,          M,          M,     M,         M,         M, NONE, NONE, NONE, NONE},  // output_type
     { 490,        490,        490,   490,       490,       490,   50,   50,   50,   50},  // Rate (Hz)
-    {1.0f,       1.0f,       1.0f,  1.0f,      1.0f,      1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    {0.0f, -0.866025f, -0.866025f,  0.0f, 0.866025f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {1.0f,       0.5f,      -0.5f, -1.0f,     -0.5f,      0.5f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    {1.0f,      -1.0f,       1.0f, -1.0f,      1.0f,     -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+    {3398.687478919854, 3398.6874789198537, 3398.6874789198537, 3398.6874789198523, 3398.6874789198537, 3398.6874789198537, 0, 0, 0, 0},
+    {0.0, -23546.797570149454, -23546.797570149447, 0.0, 23546.797570149443, 23546.79757014946, 0, 0, 0, 0},
+    {27189.49983135882, 13594.749915679433, -13594.749915679424, -27189.49983135882, -13594.749915679417, 13594.749915679415, 0, 0, 0, 0},
+    {148673.99295362437, -148673.99295362443, 148673.99295362437, -148673.99295362437, 148673.9929536245, -148673.9929536244, 0, 0, 0, 0}};
 
   const mixer_t hex_x_mixing = {
-    {        M,     M,          M,          M,    M,         M, NONE, NONE, NONE, NONE},  // output_type
-    {      490,   490,        490,        490,  490,       490,   50,   50,   50,   50},  // Rate (Hz)
-    {     1.0f,  1.0f,       1.0f,       1.0f, 1.0f,      1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    {    -0.5f, -1.0f,      -0.5f,       0.5f, 1.0f,      0.5f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {0.866025f,  0.0f, -0.866025f, -0.866025f, 0.0f, 0.866025f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    {     1.0f, -1.0f,       1.0f,      -1.0f, 1.0f,     -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+    {M, M, M, M, M, M, NONE, NONE, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 50, 50, 50, 50},
+    {3398.687478919854, 3398.687478919853, 3398.687478919853, 3398.6874789198523, 3398.687478919854, 3398.687478919854, 0, 0, 0, 0},
+    {-13594.749915679407, -27189.49983135883, -13594.74991567941, 13594.749915679384, 27189.49983135884, 13594.74991567942, 0, 0, 0, 0},
+    {23546.797570149465, 0.0, -23546.797570149454, -23546.797570149472, 0.0, 23546.797570149465, 0, 0, 0, 0},
+    {148673.99295362426, -148673.9929536243, 148673.99295362443, -148673.99295362443, 148673.99295362446, -148673.99295362437, 0, 0, 0, 0}};
 
   const mixer_t octocopter_plus_mixing = {
-    {   M,       M,     M,       M,     M,       M,    M,      M, NONE, NONE},  // output_type
-    { 490,     490,   490,     490,   490,     490,  490,    490,   50,   50},  // Rate (Hz)
-    {1.0f,    1.0f,  1.0f,    1.0f,  1.0f,    1.0f, 1.0f,   1.0f, 0.0f, 0.0f},  // F Mix
-    {0.0f, -0.707f, -1.0f, -0.707f,  0.0f,  0.707f, 1.0f, 0.707f, 0.0f, 0.0f},  // X Mix
-    {1.0f,  0.707f,  0.0f, -0.707f, -1.0f, -0.707f, 0.0f, 0.707f, 0.0f, 0.0f},  // Y Mix
-    {1.0f,   -1.0f,  1.0f,   -1.0f,  1.0f,   -1.0f, 1.0f,  -1.0f, 0.0f, 0.0f}}; // Z Mix
+    {M, M, M, M, M, M, M, M, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 490, 490, 50, 50},
+    {2549.0156091898907, 2549.0156091898903, 2549.01560918989, 2549.0156091898893, 2549.015609189889, 2549.0156091898893, 2549.01560918989, 2549.0156091898903, 0, 0},
+    {0.0, -14419.409780868224, -20392.124873519115, -14419.409780868233, 0.0, 14419.409780868235, 20392.124873519115, 14419.409780868242, 0, 0},
+    {20392.124873519126, 14419.409780868244, 0.0, -14419.409780868249, -20392.124873519126, -14419.409780868249, 0.0, 14419.409780868238, 0, 0},
+    {111505.49471521821, -111505.4947152183, 111505.49471521829, -111505.49471521829, 111505.49471521827, -111505.49471521826, 111505.49471521827, -111505.49471521827, 0, 0}};
 
   const mixer_t octocopter_x_mixing = {
-    {      M,      M,       M,       M,      M,       M,      M,     M, NONE, NONE},  // output_type
-    {    490,    490,     490,     490,    490,     490,    490,   490,   50,   50},  // Rate (Hz)
-    {   1.0f,   1.0f,    1.0f,    1.0f,   1.0f,    1.0f,   1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
-    {-0.414f,  -1.0f,   -1.0f, -0.414f, 0.414f,    1.0f,   1.0f, 0.414, 0.0f, 0.0f},  // X Mix
-    {   1.0f, 0.414f, -0.414f,   -1.0f,  -1.0f, -0.414f, 0.414f,   1.0, 0.0f, 0.0f},  // Y Mix
-    {   1.0f,  -1.0f,    1.0f,   -1.0f,   1.0f,   -1.0f,   1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
+    {M, M, M, M, M, M, M, M, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 490, 490, 50, 50},
+    {2549.0156091898893, 2549.01560918989, 2549.01560918989, 2549.0156091898903, 2549.0156091898903, 2549.01560918989, 2549.01560918989, 2549.0156091898893, 0, 0},
+    {-7803.728339815821, -18839.866795058642, -18839.86679505863, -7803.728339815828, 7803.728339815823, 18839.86679505863, 18839.86679505864, 7803.728339815834, 0, 0},
+    {18839.86679505862, 7803.728339815822, -7803.728339815816, -18839.866795058624, -18839.86679505863, -7803.728339815828, 7803.728339815817, 18839.86679505862, 0, 0},
+    {111505.49471521824, -111505.49471521845, 111505.49471521832, -111505.49471521827, 111505.49471521837, -111505.49471521827, 111505.49471521833, -111505.49471521836, 0, 0}};
 
   const mixer_t Y6_mixing = {
-    {     M,      M,       M,       M,      M,      M, NONE, NONE, NONE, NONE},  // output_type
-    {   490,    490,     490,     490,    490,    490,   50,   50,   50,   50},  // Rate (Hz)
-    {  1.0f,   1.0f,    1.0f,    1.0f,   1.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
-    { -1.0f,  -1.0f,    0.0f,    0.0f,   1.0f,   1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
-    {0.667f, 0.667f, -1.333f, -1.333f, 0.667f, 0.667f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
-    {  1.0f,  -1.0f,    1.0f,   -1.0f,   1.0f,  -1.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
+    {M, M, M, M, M, M, NONE, NONE, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 50, 50, 50, 50},
+    {3398.6874789198546, 3398.6874789198523, 3398.6874789198537, 3398.6874789198546, 3398.687478919853, 3398.6874789198528, 0, 0, 0, 0},
+    {-23546.79757014947, 0.0, 23546.797570149454, -23546.79757014944, 0.0, 23546.79757014947, 0, 0, 0, 0},
+    {13594.749915679397, -27189.499831358822, 13594.749915679413, 13594.749915679437, -27189.499831358844, 13594.749915679426, 0, 0, 0, 0},
+    {148673.9929536246, -148673.9929536245, 148673.9929536245, -148673.99295362452, 148673.99295362446, -148673.9929536245, 0, 0, 0, 0}};
 
   const mixer_t X8_mixing = {
-    {    M,     M,     M,     M,     M,     M,    M,     M, NONE, NONE},  // output_type
-    {  490,   490,   490,   490,   490,   490,  490,  490,   50,   50},  // Rate (Hz)
-    { 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
-    {-1.0f, -1.0f, -1.0f, -1.0f,  1.0f,  1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // X Mix
-    { 1.0f,  1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f, 0.0f, 0.0f},  // Y Mix
-    { 1.0f, -1.0f,  1.0f, -1.0f,  1.0f, -1.0f, 1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
+    {M, M, M, M, M, M, M, M, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 490, 490, 50, 50},
+    {2549.01560918989, 2549.01560918989, 2549.0156091898893, 2549.0156091898893, 2549.01560918989, 2549.01560918989, 2549.0156091898903, 2549.0156091898903, 0, 0},
+    {-14419.409780868245, -14419.409780868247, -14419.40978086824, -14419.409780868236, 14419.409780868244, 14419.409780868247, 14419.40978086824, 14419.409780868244, 0, 0},
+    {14419.409780868236, 14419.40978086824, -14419.409780868247, -14419.409780868247, -14419.40978086824, -14419.409780868244, 14419.409780868249, 14419.409780868245, 0, 0},
+    {111505.49471521829, -111505.49471521827, 111505.49471521823, -111505.49471521829, 111505.49471521827, -111505.49471521826, 111505.49471521829, -111505.49471521823, 0, 0}};
 
   const mixer_t tricopter_mixing = {
-    {      M,       M,      M,    NONE,        S,   NONE,   NONE,   NONE,   NONE,   NONE},  // output_type
-    {    490,     490,    490,      50,       50,     50,     50,     50,     50,     50},  // Rate (Hz)
-    { 1.000f,  0.000f, 1.000f,  0.000f,   1.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // F Mix
-    {-1.000f,  0.000f, 0.000f,  0.000f,   1.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // X Mix
-    { 0.667f,  0.000f, 0.667f,  0.000f,  -1.333f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f},  // Y Mix
-    { 0.000f,  1.000f, 0.000f,  0.000f,   0.000f,   0.0f,   0.0f,   0.0f,   0.0f,   0.0f} }; // Z Mix
+    {M, M, M, M, M, M, NONE, NONE, NONE, NONE},
+    {490, 490, 490, 490, 490, 490, 50, 50, 50, 50},
+    {3398.687478919855, 3398.687478919855, 3398.6874789198528, 3398.687478919852, 3398.6874789198537, 3398.6874789198528, 0, 0, 0, 0},
+    {-23546.797570149458, -23546.797570149447, 0.0, 0.0, 23546.797570149454, 23546.797570149465, 0, 0, 0, 0},
+    {13594.749915679417, 13594.74991567943, -27189.499831358844, -27189.49983135883, 13594.749915679406, 13594.749915679418, 0, 0, 0, 0},
+    {148673.99295362437, -148673.99295362429, 148673.99295362443, -148673.9929536245, 148673.9929536244, -148673.99295362443, 0, 0, 0, 0}};
 
   const mixer_t fixedwing_mixing = {
     {   S,    S,    S, NONE,    M, NONE, NONE, NONE, NONE, NONE},  // output type
@@ -198,22 +200,14 @@ class Mixer : public ParamListenerInterface
     {0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
     {0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
-  const mixer_t fixedwing_vtail_mixing = {
+  const mixer_t fixedwing_inverted_vtail_mixing = {
     {   S, NONE, NONE,     S,    S,    M, NONE, NONE, NONE, NONE},  // Ailerons, LRuddervator, RRuddervator, Motor
     {  50,   50,   50,    50,   50,   50,   50,   50,   50,   50},  // Rate (Hz)
     {0.0f, 0.0f, 0.0f,  0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // F Mix
     {1.0f, 0.0f, 0.0f,  0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // X Mix
     {0.0f, 0.0f, 0.0f, -0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
     {0.0f, 0.0f, 0.0f,  0.5f, 0.5f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
-  const mixer_t quadplane_mixing = {
-    {   S,     S,    S,    M,    M,     M,     M,     M, NONE, NONE},  // Ailerons, Rudder, Elevator, Tractor Motor, Quadrotors
-    {  50,    50,   50,   50,  490,   490,   490,   490,   50,   50},  // Rate (Hz)
-    {0.0f,  0.0f, 0.0f, 1.0f, 1.0f,  1.0f,  1.0f,  1.0f, 0.0f, 0.0f},  // F Mix
-    {1.0f,  0.0f, 0.0f, 0.0f, 0.0f, -1.0f,  0.0f,  1.0f, 0.0f, 0.0f},  // X Mix
-    {0.0f,  1.0f, 0.0f, 0.0f, 1.0f,  0.0f, -1.0f,  0.0f, 0.0f, 0.0f},  // Y Mix
-    {0.0f,  0.0f, 1.0f, 0.0f, 1.0f, -1.0f,  1.0f, -1.0f, 0.0f, 0.0f}}; // Z Mix
-
   const mixer_t passthrough_mixing = {
     {NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE},
     {  50,   50,   50,   50,   50,   50,   50,   50,   50,   50},  // Rate (Hz or kHz)
@@ -230,6 +224,8 @@ class Mixer : public ParamListenerInterface
     {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},  // Y Mix
     {0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}}; // Z Mix
 
+  mixer_t custom_mixer_;
+
   const mixer_t * mixer_to_use_;
 
   const mixer_t* array_of_mixers_[NUM_MIXERS] = {
@@ -245,22 +241,40 @@ class Mixer : public ParamListenerInterface
     &tricopter_mixing,
     &fixedwing_mixing,
     &passthrough_mixing,
-    &fixedwing_vtail_mixing,
-    &quadplane_mixing,
-    &custom_mixing
+    &fixedwing_inverted_vtail_mixing,
+    &custom_mixing,
   };
 
   // clang-format on
 
+  // Define parameters for the mixer
+  float R_;                      // Motor resistance
+  float rho_;                    // Air density
+  float K_V_;                    // Motor back-emf constant
+  float K_Q_ = 0.01706;          // Motor torque constant
+  float i_0_;                    // Motor no-load current
+  float D_;                      // Propeller diameter
+  float C_T_;                    // Thrust coefficient
+  float C_Q_;                    // Torque coefficient
+  int num_motors_;               // Number of motors
+  float V_max_;                  // Maximum battery voltage
+  float l_[NUM_MIXER_OUTPUTS];   // Radial distance from center of mass to motor
+  float psi_[NUM_MIXER_OUTPUTS]; // Angle of motor from body x-axis
+
 public:
   Mixer(ROSflight & _rf);
   void init();
   void init_PWM();
   void init_mixing();
+  void update_parameters();
   void mix_output();
   void param_change_callback(uint16_t param_id) override;
   void set_new_aux_command(aux_command_t new_aux_command);
   inline const float * get_outputs() const { return raw_outputs_; }
+
+  void calculate_mixer_values();
+  void mix_multirotor();
+  void mix_fixedwing();
 };
 
 } // namespace rosflight_firmware

include/param.h

@@ -62,6 +62,39 @@ enum : uint16_t
   PARAM_BAUD_RATE = 0,
   PARAM_SERIAL_DEVICE,
 
+  PARAM_AIR_DENSITY,
+
+  PARAM_NUM_MOTORS,
+  PARAM_MOTOR_RESISTANCE,
+  PARAM_MOTOR_KV,
+  PARAM_NO_LOAD_CURRENT,
+  PARAM_PROP_DIAMETER,
+  PARAM_PROP_CT,
+  PARAM_PROP_CQ,
+  PARAM_VOLT_MAX,
+
+  PARAM_MOTOR_0_POS,
+  PARAM_MOTOR_1_POS,
+  PARAM_MOTOR_2_POS,
+  PARAM_MOTOR_3_POS,
+  PARAM_MOTOR_4_POS,
+  PARAM_MOTOR_5_POS,
+  PARAM_MOTOR_6_POS,
+  PARAM_MOTOR_7_POS,
+  PARAM_MOTOR_8_POS,
+  PARAM_MOTOR_9_POS,
+
+  PARAM_MOTOR_0_PSI,
+  PARAM_MOTOR_1_PSI,
+  PARAM_MOTOR_2_PSI,
+  PARAM_MOTOR_3_PSI,
+  PARAM_MOTOR_4_PSI,
+  PARAM_MOTOR_5_PSI,
+  PARAM_MOTOR_6_PSI,
+  PARAM_MOTOR_7_PSI,
+  PARAM_MOTOR_8_PSI,
+  PARAM_MOTOR_9_PSI,
+
   /*****************************/
   /*** MAVLINK CONFIGURATION ***/
   /*****************************/
@@ -70,8 +103,6 @@ enum : uint16_t
   /********************************/
   /*** CONTROLLER CONFIGURATION ***/
   /********************************/
-  PARAM_MAX_COMMAND,
-
   PARAM_PID_ROLL_RATE_P,
   PARAM_PID_ROLL_RATE_I,
   PARAM_PID_ROLL_RATE_D,
@@ -175,6 +206,7 @@ enum : uint16_t
   PARAM_RC_OVERRIDE_DEVIATION,
   PARAM_OVERRIDE_LAG_TIME,
   PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE,
+  PARAM_RC_MAX_THROTTLE,
 
   PARAM_RC_ATTITUDE_MODE,
   PARAM_RC_MAX_ROLL,

src/comm_manager.cpp

@@ -254,7 +254,7 @@ void CommManager::offboard_control_callback(const CommLinkInterface::OffboardCon
       new_offboard_command.x.type = PASSTHROUGH;
       new_offboard_command.y.type = PASSTHROUGH;
       new_offboard_command.z.type = PASSTHROUGH;
-      new_offboard_command.F.type = THROTTLE;
+      new_offboard_command.F.type = PASSTHROUGH;
       break;
     case CommLinkInterface::OffboardControl::Mode::ROLLRATE_PITCHRATE_YAWRATE_THROTTLE:
       new_offboard_command.x.type = RATE;
@@ -350,7 +350,8 @@ void CommManager::send_status(void)
   if (!initialized_) { return; }
 
   uint8_t control_mode = 0;
-  if (RF_.params_.get_param_int(PARAM_FIXED_WING) || RF_.command_manager_.combined_control().x.type == PASSTHROUGH) {
+  if (RF_.params_.get_param_int(PARAM_FIXED_WING)
+      || RF_.command_manager_.combined_control().x.type == PASSTHROUGH) {
     control_mode = MODE_PASS_THROUGH;
   } else if (RF_.command_manager_.combined_control().x.type == ANGLE) {
     control_mode = MODE_ROLL_PITCH_YAWRATE_THROTTLE;