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Rework flaps/spoilers logic

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- remove deprecated actuator_controls[INDEX_FLAPS/SPOILERS/AIRBRAKES]
- use new topic normalized_unsigned_setpoint.msg (with instances flaps_setpoint
and spoilers_setpoint) to pass into control allocation
- remove flaps/spoiler related fields from attitude_setpoint topic
- CA: add possibility to map flaps/spoilers to any control surface
- move flaps/spoiler pitch trimming to CA (previously called DTRIM_FLAPS/SPOILER)
- move manual flaps/spoiler handling from rate to attitude controller

FW Position controller: change how negative switch readings are intepreted
for flaps/spoilers (considered negative as 0).

VTOL: Rework spoiler publishing in hover

- pushlish spoiler_setpoint.msg in the VTOL module if in hover
- also set spoilers to land configuration if in Descend mode

Allocation: add slew rate limit of 0.5 to flaps/spoilers configuration change

Instead of doing the flaps/spoilers slew rate limiting in the FW Position Controller
(which then only is applied in Auto flight), do it consistently over all flight
modes, so also for manual modes.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 16594bffa9
commit 1e56d9c219
37 changed files with 468 additions and 398 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.hpp
+5 -5
View File
@@ -45,7 +45,8 @@
#include "ActuatorEffectivenessRotors.hpp"
#include "ActuatorEffectivenessControlSurfaces.hpp"
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/normalized_unsigned_setpoint.h>
class ActuatorEffectivenessStandardVTOL : public ModuleParams, public ActuatorEffectiveness
{
@@ -72,9 +73,7 @@ public:
normalize[1] = false;
}
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
@@ -89,6 +88,7 @@ private:
int _first_control_surface_idx{0}; ///< applies to matrix 1
uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_0)};
uORB::Subscription _flaps_setpoint_sub{ORB_ID(flaps_setpoint)};
uORB::Subscription _spoilers_setpoint_sub{ORB_ID(spoilers_setpoint)};
};