fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL Front transition minimum time

Browse Source
This commit is contained in:
sander 2016-02-26 10:03:43 +01:00 committed by Andreas Antener
parent 4d82cf7224
commit 00c9c7fdff
3 changed files with 31 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
src/modules/vtol_att_control/standard.cpp
View File

@ -64,6 +64,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.airspeed_blend = param_find("VT_ARSP_BLEND");
_params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_standard.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
}
Standard::~Standard()
@ -100,6 +101,10 @@ Standard::parameters_update()
/* timeout for transition to fw mode */
param_get(_params_handles_standard.front_trans_timeout, &_params_standard.front_trans_timeout);
/* minimum time for transition to fw mode */
param_get(_params_handles_standard.front_trans_time_min, &_params_standard.front_trans_time_min);
return OK;
}
@ -153,6 +158,7 @@ void Standard::update_vtol_state()
// start transition to fw mode
_vtol_schedule.flight_mode = TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();
warnx("Front transition started");
} else if (_vtol_schedule.flight_mode == FW_MODE) {
// in fw mode
@ -164,12 +170,17 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
if ((_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) ||
!_armed->armed) {
warnx("Front transition complete");
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;
// don't set pusher throttle here as it's being ramped up elsewhere
_trans_finished_ts = hrt_absolute_time();
warnx("Front transition complete");
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@ -211,8 +222,11 @@ void Standard::update_transition_state()
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur * 1000000.0f);
}
// do blending of mc and fw controls if a blending airspeed has been provided
if (_airspeed_trans_blend_margin > 0.0f && _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend) {
// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
if (_airspeed_trans_blend_margin > 0.0f &&
_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_time_min * 1000000.0f)
) {
float weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params_standard.airspeed_blend) /
_airspeed_trans_blend_margin;
_mc_roll_weight = weight;
@ -230,7 +244,7 @@ void Standard::update_transition_state()
// check front transition timeout
if (_params_standard.front_trans_timeout > FLT_EPSILON) {
if ( (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
if ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
// transition timeout occured, abort transition
_attc->abort_front_transition();
}

2
src/modules/vtol_att_control/standard.h
View File

@ -72,6 +72,7 @@ private:
float airspeed_blend;
float airspeed_trans;
float front_trans_timeout;
float front_trans_time_min;
} _params_standard;
struct {
@ -81,6 +82,7 @@ private:
param_t airspeed_blend;
param_t airspeed_trans;
param_t front_trans_timeout;
param_t front_trans_time_min;
} _params_handles_standard;
enum vtol_mode {

11
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@ -253,3 +253,14 @@ PARAM_DEFINE_INT32(VT_WV_LTR_EN, 0);
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
/**
* Front transition minimum time
*
* Minimum time in seconds for front transition.
*
* @min 0.0
* @max 10.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);