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vtol: refactor of maximum pwm value settings for main and alternate motors

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- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-01-04 15:32:00 +01:00
committed by Silvan Fuhrer
parent bc1e9f72f7
commit 0871f0f52d
5 changed files with 91 additions and 60 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+3 -7
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@@ -286,9 +286,7 @@ void Tiltrotor::update_transition_state()
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition all rotors are enabled
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
set_all_motor_state(motor_state::ENABLED);
// tilt rotors forward up to certain angle
if (_tilt_control <= _params_tiltrotor.tilt_transition) {
@@ -338,16 +336,14 @@ void Tiltrotor::update_transition_state()
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;
_motor_state = set_motor_state(_motor_state, motor_state::VALUE, ramp_down_value);
set_alternate_motor_state(motor_state::VALUE, ramp_down_value);
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
// turn on all MC motors
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
set_all_motor_state(motor_state::ENABLED);
// set idle speed for rotary wing mode