fly316/PX4-Autopilot
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vtol fixes:

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- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
This commit is contained in:
tumbili
2015-08-12 20:33:17 +02:00
parent c448f955e0
commit 04f55ce784
5 changed files with 16 additions and 6 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+12 -4
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@@ -281,12 +281,12 @@ void Tiltrotor::update_transition_state()
// tilt rotors forward up to certain angle
if (_tilt_control <= _params_tiltrotor.tilt_transition ) {
_tilt_control = _params_tiltrotor.tilt_mc +
fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur*1000000.0f);
fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur * 1000000.0f);
}
// do blending of mc and fw controls
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 1.0f - (_airspeed->true_airspeed_m_s - _params_tiltrotor.airspeed_blend_start) / (_params_tiltrotor.airspeed_trans - _params_tiltrotor.airspeed_blend_start);
_mc_roll_weight = 0.0f;
} else {
// at low speeds give full weight to mc
_mc_roll_weight = 1.0f;
@@ -301,18 +301,26 @@ void Tiltrotor::update_transition_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = _params_tiltrotor.tilt_transition +
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur_p2*1000000.0f);
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur_p2 * 1000000.0f);
_mc_roll_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
if (_rear_motors != IDLE) {
set_rear_motor_state(IDLE);
}
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
}
// tilt rotors back
if (_tilt_control > _params_tiltrotor.tilt_mc) {
_tilt_control = _params_tiltrotor.tilt_fw -
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur*1000000.0f);
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur * 1000000.0f);
}
// set zero throttle for backtransition otherwise unwanted moments will be created
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
_mc_roll_weight = 0.0f;
}