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preflight check: send tilt control always

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even if we are not currently testing the tilt axis. then we send zero
tilt rather than nothing.
This commit is contained in:
Balduin
2025-02-18 11:08:06 +01:00
parent ad42a5b2f9
commit 0253f9798e
1 changed files with 15 additions and 19 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+15 -19
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@@ -500,9 +500,6 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
// cycle through roll, pitch, yaw, and for each one inject positive and
// negative torque setpoints.
// for now, no collective tilt if tiltrotor. will need to look a bit different.
// is this the proper way to do it?
// bool tiltrotor = _effectiveness_source_id == EffectivenessSource::TILTROTOR_VTOL;
bool tiltrotor = dynamic_cast<ActuatorEffectivenessTiltrotorVTOL*>(_actuator_effectiveness) != nullptr;
@@ -524,6 +521,8 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
int axis = _preflight_check_phase / 2;
int negative = _preflight_check_phase % 2;
float modified_tilt_control = 0.f;
if (axis < 3) {
c[0](0) = 0.;
c[0](1) = 0.;
@@ -538,24 +537,21 @@ void ControlAllocator::preflight_check_overwrite_torque_sp(matrix::Vector<float,
}
} else {
// axis 4 = tiltrotor. Here, we modify the
// tiltrotor_extra_controls message, which is received in
// ActuatorEffectivenessTiltrotorVTOL::updateSetpoint
float modified_tilt_control = negative ? -1.f : 1.f;
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (!_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
// got no message, make up thrust setpoint
tiltrotor_extra_controls.collective_thrust_normalized_setpoint = 0.;
}
tiltrotor_extra_controls.collective_tilt_normalized_setpoint = modified_tilt_control;
tiltrotor_extra_controls.timestamp = hrt_absolute_time();
_tiltrotor_extra_controls_pub.publish(tiltrotor_extra_controls);
// axis 4 = tiltrotor.
modified_tilt_control = negative ? -1.f : 1.f;
}
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (!_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
// got no message, make up thrust setpoint
tiltrotor_extra_controls.collective_thrust_normalized_setpoint = 0.;
}
tiltrotor_extra_controls.collective_tilt_normalized_setpoint = modified_tilt_control;
tiltrotor_extra_controls.timestamp = hrt_absolute_time();
_tiltrotor_extra_controls_pub.publish(tiltrotor_extra_controls);
// PX4_INFO("_torque_sp: %f, %f, %f", (double) _torque_sp(0), (double) _torque_sp(1), (double) _torque_sp(2));
}