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control_allocator: handle thrust allocation for VTOL's properly

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 936f2dff52
commit 0568cff299
6 changed files with 87 additions and 38 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+39
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@@ -462,21 +462,57 @@ void Tiltrotor::fill_actuator_outputs()
auto &mc_out = _actuators_out_0->control;
auto &fw_out = _actuators_out_1->control;
_torque_setpoint_0->timestamp = hrt_absolute_time();
_torque_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_torque_setpoint_0->xyz[0] = 0.f;
_torque_setpoint_0->xyz[1] = 0.f;
_torque_setpoint_0->xyz[2] = 0.f;
_torque_setpoint_1->timestamp = hrt_absolute_time();
_torque_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_torque_setpoint_1->xyz[0] = 0.f;
_torque_setpoint_1->xyz[1] = 0.f;
_torque_setpoint_1->xyz[2] = 0.f;
_thrust_setpoint_0->timestamp = hrt_absolute_time();
_thrust_setpoint_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_thrust_setpoint_0->xyz[0] = 0.f;
_thrust_setpoint_0->xyz[1] = 0.f;
_thrust_setpoint_0->xyz[2] = 0.f;
_thrust_setpoint_1->timestamp = hrt_absolute_time();
_thrust_setpoint_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_thrust_setpoint_1->xyz[0] = 0.f;
_thrust_setpoint_1->xyz[1] = 0.f;
_thrust_setpoint_1->xyz[2] = 0.f;
// Multirotor output
mc_out[actuator_controls_s::INDEX_ROLL] = mc_in[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
_torque_setpoint_0->xyz[0] = mc_in[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
_torque_setpoint_0->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_torque_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// for the legacy mixing system pubish FW throttle on the MC output
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
// FW thrust is allocated on mc_thrust_sp[0] for tiltrotor with dynamic control allocation
_thrust_setpoint_0->xyz[0] = fw_in[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_params->diff_thrust == 1) {
mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
_torque_setpoint_0->xyz[2] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
}
} else {
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
}
// Fixed wing output
@@ -491,6 +527,9 @@ void Tiltrotor::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW];
_torque_setpoint_1->xyz[0] = fw_in[actuator_controls_s::INDEX_ROLL];
_torque_setpoint_1->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH];
_torque_setpoint_1->xyz[2] = fw_in[actuator_controls_s::INDEX_YAW];
}
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;