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VTOL: Added position feedback to backward transition braking controller(#23731)

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Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of 
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.

* vtol_type: added position feedback to backward transition

* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation

* FlightTaskTransition: minor improvements

* FlightTaskTransition: use .dot() consistently and remove unnecessary comments

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Alvaro Fernandez
2024-11-11 11:53:28 +01:00
committed by GitHub
co-authored by Silvan Fuhrer
parent f47719d397
commit 079b756f1b
6 changed files with 140 additions and 66 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+1 -1
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@@ -295,7 +295,7 @@ void Tiltrotor::update_transition_state()
// control backtransition deceleration using pitch.
if (_v_control_mode->flag_control_climb_rate_enabled) {
pitch_body = update_and_get_backtransition_pitch_sp();
pitch_body = Eulerf(Quatf(_mc_virtual_att_sp->q_d)).theta();
}
if (_time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {