VTOL: add options to set flaps and spoilers in backtransition

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

src/modules/vtol_att_control/standard.cpp

@@ -323,6 +323,10 @@ void Standard::update_transition_state()
 		if (!_flag_idle_mc) {
 			_flag_idle_mc = set_idle_mc();
 		}
+
+		// set spoiler and flaps to the backtransition value
+		_flaps_setpoint_with_slewrate.update(_params->vt_flaps_bt, _dt);
+		_spoiler_setpoint_with_slewrate.update(_params->vt_spoilers_bt, _dt);
 	}
 
 	mc_weight = math::constrain(mc_weight, 0.0f, 1.0f);

src/modules/vtol_att_control/tiltrotor.cpp

@@ -446,6 +446,10 @@ void Tiltrotor::update_transition_state()
 			progress = math::constrain(progress, 0.0f, 1.0f);
 			_mc_throttle_weight = moveLinear(0.0f, 1.0f, progress);
 		}
+
+		// set spoiler and flaps to the backtransition value
+		_flaps_setpoint_with_slewrate.update(_params->vt_flaps_bt, _dt);
+		_spoiler_setpoint_with_slewrate.update(_params->vt_spoilers_bt, _dt);
 	}
 
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -110,6 +110,9 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	_params_handles.land_pitch_min_rad = param_find("VT_LND_PTCH_MIN");
 
 	_params_handles.vt_spoiler_mc_ld = param_find("VT_SPOILER_MC_LD");
+	_params_handles.vt_flaps_bt = param_find("VT_FLPAS_BT");
+	_params_handles.vt_spoilers_bt = param_find("VT_SPOILERS_BT");
+
 	/* fetch initial parameter values */
 	parameters_update();
 
@@ -374,6 +377,9 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.mpc_land_alt2, &_params.mpc_land_alt2);
 
 	param_get(_params_handles.vt_spoiler_mc_ld, &_params.vt_spoiler_mc_ld);
+	param_get(_params_handles.vt_flaps_bt, &_params.vt_flaps_bt);
+	param_get(_params_handles.vt_spoilers_bt, &_params.vt_spoilers_bt);
+
 	// update the parameters of the instances of base VtolType
 	if (_vtol_type != nullptr) {
 		_vtol_type->parameters_update();

src/modules/vtol_att_control/vtol_att_control_main.h

@@ -252,6 +252,8 @@ private:
 		param_t mpc_land_alt2;
 		param_t sys_ctrl_alloc;
 		param_t vt_spoiler_mc_ld;
+		param_t vt_flaps_bt;
+		param_t vt_spoilers_bt;
 	} _params_handles{};
 
 	hrt_abstime _last_run_timestamp{0};

src/modules/vtol_att_control/vtol_att_control_params.c

@@ -396,3 +396,27 @@ PARAM_DEFINE_FLOAT(VT_LND_PTCH_MIN, -5.0f);
  * @group VTOL Attitude Control
  */
 PARAM_DEFINE_FLOAT(VT_SPOILER_MC_LD, 0.f);
+
+/**
+ * Flaps setting during backtransition
+ *
+ * @unit norm
+ * @min -1
+ * @max 1
+ * @decimal 1
+ * @increment 0.05
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_FLAPS_BT, 0.f);
+
+/**
+ * Spoiler setting during backtransition
+ *
+ * @unit norm
+ * @min -1
+ * @max 1
+ * @decimal 1
+ * @increment 0.05
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_FLOAT(VT_SPOILERS_BT, 0.f);

src/modules/vtol_att_control/vtol_type.h

@@ -86,6 +86,8 @@ struct Params {
 	float mpc_land_alt1;
 	float mpc_land_alt2;
 	float vt_spoiler_mc_ld;
+	float vt_flaps_bt;
+	float vt_spoilers_bt;
 };
 
 // Has to match 1:1 msg/vtol_vehicle_status.msg