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tiltrotor: removed common vtol parameters

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent 6900f97b72
commit 07a84f2246
2 changed files with 11 additions and 57 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+11 -45
View File
@@ -47,8 +47,7 @@
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
VtolType(attc),
_rear_motors(ENABLED),
_tilt_control(0.0f),
_min_front_trans_dur(0.5f)
_tilt_control(0.0f)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.transition_start = 0;
@@ -59,16 +58,11 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_flag_was_in_trans_mode = false;
_params_handles_tiltrotor.front_trans_dur = param_find("VT_F_TRANS_DUR");
_params_handles_tiltrotor.back_trans_dur = param_find("VT_B_TRANS_DUR");
_params_handles_tiltrotor.tilt_mc = param_find("VT_TILT_MC");
_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
_params_handles_tiltrotor.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID");
_params_handles_tiltrotor.airspeed_disabled = param_find("FW_ARSP_MODE");
_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
}
@@ -88,14 +82,6 @@ Tiltrotor::parameters_update()
param_get(_params_handles_tiltrotor.fw_motors_off, &l);
_params_tiltrotor.fw_motors_off = get_motor_off_channels(l);
/* vtol duration of a front transition */
param_get(_params_handles_tiltrotor.front_trans_dur, &v);
_params_tiltrotor.front_trans_dur = math::constrain(v, 1.0f, 5.0f);
/* vtol duration of a back transition */
param_get(_params_handles_tiltrotor.back_trans_dur, &v);
_params_tiltrotor.back_trans_dur = math::constrain(v, 0.0f, 5.0f);
/* vtol tilt mechanism position in mc mode */
param_get(_params_handles_tiltrotor.tilt_mc, &v);
_params_tiltrotor.tilt_mc = v;
@@ -108,29 +94,10 @@ Tiltrotor::parameters_update()
param_get(_params_handles_tiltrotor.tilt_fw, &v);
_params_tiltrotor.tilt_fw = v;
/* vtol airspeed at which it is ok to switch to fw mode */
param_get(_params_handles_tiltrotor.airspeed_trans, &v);
_params_tiltrotor.airspeed_trans = v;
/* vtol airspeed at which we start blending mc/fw controls */
param_get(_params_handles_tiltrotor.airspeed_blend_start, &v);
_params_tiltrotor.airspeed_blend_start = v;
/* vtol front transition phase 2 duration */
param_get(_params_handles_tiltrotor.front_trans_dur_p2, &v);
_params_tiltrotor.front_trans_dur_p2 = v;
/* avoid parameters which will lead to zero division in the transition code */
_params_tiltrotor.front_trans_dur = math::max(_params_tiltrotor.front_trans_dur, _min_front_trans_dur);
if (_params_tiltrotor.airspeed_trans < _params_tiltrotor.airspeed_blend_start + 1.0f) {
_params_tiltrotor.airspeed_trans = _params_tiltrotor.airspeed_blend_start + 1.0f;
}
/* airspeed mode */
param_get(_params_handles_tiltrotor.airspeed_disabled, &l);
_params_tiltrotor.airspeed_disabled = math::constrain(l, 0, 1);
param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
param_get(_params_handles_tiltrotor.diff_thrust_scale, &v);
@@ -213,12 +180,12 @@ void Tiltrotor::update_vtol_state()
bool transition_to_p2 = can_transition_on_ground();
// check if we have reached airspeed to switch to fw mode
transition_to_p2 |= !_params_tiltrotor.airspeed_disabled &&
_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans &&
transition_to_p2 |= !_params->airspeed_disabled &&
_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_min * 1e6f);
// check if airspeed is invalid and transition by time
transition_to_p2 |= _params_tiltrotor.airspeed_disabled &&
transition_to_p2 |= _params->airspeed_disabled &&
_tilt_control > _params_tiltrotor.tilt_transition &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_openloop * 1e6f);
@@ -325,27 +292,26 @@ void Tiltrotor::update_transition_state()
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);
&_vtol_schedule.transition_start) / (_params->front_trans_duration * 1e6f);
}
bool use_airspeed = !_params_tiltrotor.airspeed_disabled;
// at low speeds give full weight to MC
_mc_roll_weight = 1.0f;
_mc_yaw_weight = 1.0f;
// reduce MC controls once the plane has picked up speed
if (use_airspeed && _airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
if (!_params->airspeed_disabled && _airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
}
if (use_airspeed && _airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 1.0f - (_airspeed->indicated_airspeed_m_s - _params_tiltrotor.airspeed_blend_start) /
(_params_tiltrotor.airspeed_trans - _params_tiltrotor.airspeed_blend_start);
if (!_params->airspeed_disabled && _airspeed->indicated_airspeed_m_s >= _params->airspeed_blend) {
_mc_roll_weight = 1.0f - (_airspeed->indicated_airspeed_m_s - _params->airspeed_blend) /
(_params->transition_airspeed - _params->airspeed_blend);
}
// without airspeed do timed weight changes
if (!use_airspeed
if (_params->airspeed_disabled
&& (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_min * 1e6f)) {
_mc_roll_weight = 1.0f - ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) - _params->front_trans_time_min *
1e6f) / (_params->front_trans_time_openloop * 1e6f - _params->front_trans_time_min * 1e6f);
@@ -386,7 +352,7 @@ void Tiltrotor::update_transition_state()
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);
&_vtol_schedule.transition_start) / (_params->back_trans_duration * 1e6f);
}
// set zero throttle for backtransition otherwise unwanted moments will be created
src/modules/vtol_att_control/tiltrotor.h
-12
View File
@@ -62,31 +62,21 @@ public:
private:
struct {
float front_trans_dur; /**< duration of first part of front transition */
float back_trans_dur; /**< duration of back transition */
float tilt_mc; /**< actuator value corresponding to mc tilt */
float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
float tilt_fw; /**< actuator value corresponding to fw tilt */
float airspeed_trans; /**< airspeed at which we switch to fw mode after transition */
float airspeed_blend_start; /**< airspeed at which we start blending mc/fw controls */
float front_trans_dur_p2;
int32_t fw_motors_off; /**< bitmask of all motors that should be off in fixed wing mode */
int32_t airspeed_disabled;
int32_t diff_thrust;
float diff_thrust_scale;
} _params_tiltrotor;
struct {
param_t front_trans_dur;
param_t back_trans_dur;
param_t tilt_mc;
param_t tilt_transition;
param_t tilt_fw;
param_t airspeed_trans;
param_t airspeed_blend_start;
param_t front_trans_dur_p2;
param_t fw_motors_off;
param_t airspeed_disabled;
param_t diff_thrust;
param_t diff_thrust_scale;
} _params_handles_tiltrotor;
@@ -118,8 +108,6 @@ private:
float _tilt_control; /**< actuator value for the tilt servo */
const float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
/**
* Return a bitmap of channels that should be turned off in fixed wing mode.
*/