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VTOL preserve PWM min and max when enabling/disabling actuators

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This commit is contained in:
Daniel Agar
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent a78ab02144
commit 00f98c64db
8 changed files with 113 additions and 139 deletions
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src/modules/vtol_att_control/standard.cpp
+5 -45
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@@ -48,7 +48,6 @@
Standard::Standard(VtolAttitudeControl *attc) :
VtolType(attc),
_flag_enable_mc_motors(true),
_pusher_throttle(0.0f),
_reverse_output(0.0f),
_airspeed_trans_blend_margin(0.0f)
@@ -300,11 +299,9 @@ void Standard::update_transition_state()
}
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
// in back transition we need to start the MC motors again
if (_flag_enable_mc_motors) {
set_max_mc(2000);
set_idle_mc();
_flag_enable_mc_motors = false;
_flag_enable_mc_motors = !enable_mc_motors();
}
}
@@ -322,9 +319,7 @@ void Standard::update_mc_state()
// enable MC motors here in case we transitioned directly to MC mode
if (_flag_enable_mc_motors) {
set_max_mc(2000);
set_idle_mc();
_flag_enable_mc_motors = false;
_flag_enable_mc_motors = !enable_mc_motors();
}
// if the thrust scale param is zero or the drone is on manual mode,
@@ -403,11 +398,9 @@ void Standard::update_fw_state()
{
VtolType::update_fw_state();
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
// stop MC motors in FW mode
if (!_flag_enable_mc_motors) {
set_max_mc(950);
set_idle_fw(); // force them to stop, not just idle
_flag_enable_mc_motors = true;
_flag_enable_mc_motors = disable_mc_motors();
}
}
@@ -495,36 +488,3 @@ Standard::waiting_on_tecs()
// keep thrust from transition
_v_att_sp->thrust = _pusher_throttle;
};
/**
* Disable all multirotor motors when in fw mode.
*/
void
Standard::set_max_mc(unsigned pwm_value)
{
int ret;
unsigned servo_count;
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = px4_open(dev, 0);
if (fd < 0) {
PX4_WARN("can't open %s", dev);
}
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (int i = 0; i < _params->vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
pwm_values.channel_count = _params->vtol_motor_count;
}
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_WARN("failed setting max values");
}
px4_close(fd);
}