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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/fw_path_navigation/FixedwingPositionControl.hpp
+12
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@@ -74,6 +74,7 @@
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/launch_detection_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/normalized_unsigned_setpoint.h>
#include <uORB/topics/npfg_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_landing_status.h>
@@ -214,6 +215,8 @@ private:
uORB::Publication<launch_detection_status_s> _launch_detection_status_pub{ORB_ID(launch_detection_status)};
uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{};
position_setpoint_triplet_s _pos_sp_triplet{};
@@ -419,6 +422,10 @@ private:
// LANDING GEAR
int8_t _new_landing_gear_position{landing_gear_s::GEAR_KEEP};
// FLAPS/SPOILERS
float _flaps_setpoint{0.f};
float _spoilers_setpoint{0.f};
hrt_abstime _time_in_fixed_bank_loiter{0}; // [us]
float _min_current_sp_distance_xy{FLT_MAX};
float _target_bearing{0.0f}; // [rad]
@@ -905,6 +912,11 @@ private:
(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
(ParamFloat<px4::params::FW_THR_SLEW_MAX>) _param_fw_thr_slew_max,
(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
(ParamFloat<px4::params::FW_SPOILERS_DESC>) _param_fw_spoilers_desc,
(ParamInt<px4::params::FW_POS_STK_CONF>) _param_fw_pos_stk_conf,
(ParamInt<px4::params::FW_GPSF_LT>) _param_nav_gpsf_lt,