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VTOL Standard transition improvements (#6904)

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* FW actuators fully on the entirety of front and back transition
 * back transition ramp up to full MC weight half way through back transition
 * increase maximum front and back transition times
 *  navigator don't reset transition altitude
This commit is contained in:
Sander Smeets
2017-04-02 19:39:39 -04:00
committed by Daniel Agar
parent 1d681b0356
commit 0158f1d506
3 changed files with 30 additions and 19 deletions
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src/modules/vtol_att_control/standard.cpp
+26 -14
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@@ -86,11 +86,11 @@ Standard::parameters_update()
/* duration of a forwards transition to fw mode */
param_get(_params_handles_standard.front_trans_dur, &v);
_params_standard.front_trans_dur = math::constrain(v, 0.0f, 5.0f);
_params_standard.front_trans_dur = math::constrain(v, 0.0f, 20.0f);
/* duration of a back transition to mc mode */
param_get(_params_handles_standard.back_trans_dur, &v);
_params_standard.back_trans_dur = math::constrain(v, 0.0f, 5.0f);
_params_standard.back_trans_dur = math::constrain(v, 0.0f, 20.0f);
/* target throttle value for pusher motor during the transition to fw mode */
param_get(_params_handles_standard.pusher_trans, &v);
@@ -315,9 +315,10 @@ void Standard::update_transition_state()
_v_att_sp->q_d_valid = true;
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_dur > 0.0f) {
float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.back_trans_dur *
1000000.0f);
if (_params_standard.back_trans_dur > FLT_EPSILON) {
float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
((_params_standard.back_trans_dur / 2) * 1000000.0f);
weight = math::constrain(weight, 0.0f, 1.0f);
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
_mc_yaw_weight = weight;
@@ -451,15 +452,26 @@ void Standard::fill_actuator_outputs()
// fixed wing controls
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
//roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight);
//pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) * (1 - _mc_pitch_weight);
// yaw
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * (1 - _mc_yaw_weight);
if (_vtol_schedule.flight_mode != MC_MODE) {
//roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
//pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim;
// yaw
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW];
} else {
// zero outputs when inactive
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _params->fw_pitch_trim;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
}
// set the fixed wing throttle control
if (_vtol_schedule.flight_mode == FW_MODE && _armed->armed) {