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tiltrotor: enable l1 and deceleration control during transition

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent a916cc2a26
commit 005bc97959
1 changed files with 15 additions and 2 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+15 -2
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@@ -42,6 +42,8 @@
#include "tiltrotor.h" #include "tiltrotor.h"
#include "vtol_att_control_main.h" #include "vtol_att_control_main.h"
using namespace matrix;
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition #define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
@@ -224,6 +226,11 @@ void Tiltrotor::update_transition_state()
{ {
VtolType::update_transition_state(); VtolType::update_transition_state();
// copy virtual attitude setpoint to real attitude setpoint (we use multicopter att sp)
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f; float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_flag_was_in_trans_mode) { if (!_flag_was_in_trans_mode) {
@@ -310,6 +317,9 @@ void Tiltrotor::update_transition_state()
_mc_yaw_weight = 1.0f; _mc_yaw_weight = 1.0f;
// control backtransition deceleration using pitch.
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
// while we quickly rotate back the motors keep throttle at idle // while we quickly rotate back the motors keep throttle at idle
if (time_since_trans_start < 1.0f) { if (time_since_trans_start < 1.0f) {
_mc_throttle_weight = 0.0f; _mc_throttle_weight = 0.0f;
@@ -324,12 +334,15 @@ void Tiltrotor::update_transition_state()
} }
} }
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f); _mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f); _mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
_mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f); _mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f);
// copy virtual attitude setpoint to real attitude setpoint (we use multicopter att sp)
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
} }
void Tiltrotor::waiting_on_tecs() void Tiltrotor::waiting_on_tecs()