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Tiltrotor: move spin up tilt to control allocation (#21991)

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EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-08-24 13:57:24 +02:00
committed by GitHub
parent 86822171b9
commit 0eb276f273
5 changed files with 54 additions and 58 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+2 -39
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@@ -43,7 +43,6 @@
#include "vtol_att_control_main.h"
using namespace matrix;
using namespace time_literals;
#define FRONTTRANS_THR_MIN 0.25f
#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 0.5f
@@ -182,44 +181,8 @@ void Tiltrotor::update_mc_state()
{
VtolType::update_mc_state();
/*Motor spin up: define the first second after arming as motor spin up time, during which
* the tilt is set to the value of VT_TILT_SPINUP. This allows the user to set a spin up
* tilt angle in case the propellers don't spin up smoothly in full upright (MC mode) position.
*/
const int spin_up_duration_p1 = 1000_ms; // duration of 1st phase of spinup (at fixed tilt)
const int spin_up_duration_p2 = 700_ms; // duration of 2nd phase of spinup (transition from spinup tilt to mc tilt)
// reset this timestamp while disarmed
if (!_v_control_mode->flag_armed) {
_last_timestamp_disarmed = hrt_absolute_time();
_tilt_motors_for_startup = _param_vt_tilt_spinup.get() > 0.01f; // spinup phase only required if spinup tilt > 0
} else if (_tilt_motors_for_startup) {
// leave motors tilted forward after arming to allow them to spin up easier
if (hrt_absolute_time() - _last_timestamp_disarmed > (spin_up_duration_p1 + spin_up_duration_p2)) {
_tilt_motors_for_startup = false;
}
}
if (_tilt_motors_for_startup) {
if (hrt_absolute_time() - _last_timestamp_disarmed < spin_up_duration_p1) {
_tilt_control = _param_vt_tilt_spinup.get();
} else {
// duration phase 2: begin to adapt tilt to multicopter tilt
float delta_tilt = (_param_vt_tilt_mc.get() - _param_vt_tilt_spinup.get());
_tilt_control = _param_vt_tilt_spinup.get() + delta_tilt / spin_up_duration_p2 * (hrt_absolute_time() -
(_last_timestamp_disarmed + spin_up_duration_p1));
}
_mc_yaw_weight = 0.0f; //disable yaw control during spinup
} else {
// normal operation
_tilt_control = VtolType::pusher_assist() + _param_vt_tilt_mc.get();
_mc_yaw_weight = 1.0f;
}
_tilt_control = VtolType::pusher_assist() + _param_vt_tilt_mc.get();
_mc_yaw_weight = 1.0f;
}
void Tiltrotor::update_fw_state()