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Rework landing gear logic

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- remove deprecated actuator_controls[INDEX_LANDING_GEAR]
- remove dead code in mc rate controller that used to prevent it from being retracted
on the ground (anyway had no effect as it only affected the actuator_control[LANDING_GEAR]
which wasn't sent to the control allocation)
- for VTOLs handle deployment/retraction of landing gear in AUTO  as a MC (retract if
more than 2m above ground, deploy if WP is a landing WP), plus additionally when transition
flight task is called (ALTITUDE mode and higher)
- for FW in AUTO: add logic in FW Position Controller, depending on waypoint type mainly
- manual landing gear settings always come through (a manual command overrides a previous
auto command, and vice-versa)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 3e884116c4
commit 16594bffa9
14 changed files with 54 additions and 55 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+23
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@@ -67,6 +67,7 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
_pos_ctrl_landing_status_pub.advertise();
_tecs_status_pub.advertise();
_launch_detection_status_pub.advertise();
_landing_gear_pub.advertise();
_airspeed_slew_rate_controller.setSlewRate(ASPD_SP_SLEW_RATE);
@@ -1232,6 +1233,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
airspeed_sp = (_param_fw_lnd_airspd.get() > FLT_EPSILON) ? _param_fw_lnd_airspd.get() : _param_fw_airspd_min.get();
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
_new_landing_gear_position = landing_gear_s::GEAR_DOWN;
}
@@ -1395,6 +1397,11 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
// apply flaps for takeoff according to the corresponding scale factor set via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_TAKEOFF;
// retract ladning gear once passed the climbout state
if (_runway_takeoff.getState() > RunwayTakeoffState::CLIMBOUT) {
_new_landing_gear_position = landing_gear_s::GEAR_UP;
}
} else {
/* Perform launch detection */
if (!_skipping_takeoff_detection && _param_fw_laun_detcn_on.get() &&
@@ -1710,6 +1717,9 @@ FixedwingPositionControl::control_auto_landing_straight(const hrt_abstime &now,
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
// deploy gear as soon as we're in land mode, if not already done before
_new_landing_gear_position = landing_gear_s::GEAR_DOWN;
if (!_vehicle_status.in_transition_to_fw) {
publishLocalPositionSetpoint(pos_sp_curr);
}
@@ -2298,6 +2308,9 @@ FixedwingPositionControl::Run()
reset_takeoff_state();
}
int8_t old_landing_gear_position = _new_landing_gear_position;
_new_landing_gear_position = landing_gear_s::GEAR_KEEP; // is overwritten in Takeoff and Land
switch (_control_mode_current) {
case FW_POSCTRL_MODE_AUTO: {
control_auto(control_interval, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,
@@ -2381,6 +2394,16 @@ FixedwingPositionControl::Run()
}
}
// if there's any change in landing gear setpoint publish it
if (_new_landing_gear_position != old_landing_gear_position
&& _new_landing_gear_position != landing_gear_s::GEAR_KEEP) {
landing_gear_s landing_gear = {};
landing_gear.landing_gear = _new_landing_gear_position;
landing_gear.timestamp = hrt_absolute_time();
_landing_gear_pub.publish(landing_gear);
}
perf_end(_loop_perf);
}
}