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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_rate_control/FixedwingRateControl.hpp
+7 -34
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -59,10 +59,10 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/control_allocator_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/normalized_unsigned_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
@@ -77,9 +77,6 @@ using uORB::SubscriptionData;
using namespace time_literals;
static constexpr float kFlapSlewRate = 1.f; //minimum time from none to full flap deflection [s]
static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s]
class FixedwingRateControl final : public ModuleBase<FixedwingRateControl>, public ModuleParams,
public px4::ScheduledWorkItem
{
@@ -108,7 +105,6 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _att_sp_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _rates_sp_sub{ORB_ID(vehicle_rates_setpoint)};
@@ -127,10 +123,11 @@ private:
uORB::PublicationMulti<rate_ctrl_status_s> _rate_ctrl_status_pub{ORB_ID(rate_ctrl_status)};
uORB::Publication<vehicle_thrust_setpoint_s> _vehicle_thrust_setpoint_pub{ORB_ID(vehicle_thrust_setpoint)};
uORB::Publication<vehicle_torque_setpoint_s> _vehicle_torque_setpoint_pub{ORB_ID(vehicle_torque_setpoint)};
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)};
actuator_controls_s _actuator_controls{};
manual_control_setpoint_s _manual_control_setpoint{};
vehicle_attitude_setpoint_s _att_sp{};
vehicle_control_mode_s _vcontrol_mode{};
vehicle_rates_setpoint_s _rates_sp{};
vehicle_status_s _vehicle_status{};
@@ -149,9 +146,6 @@ private:
float _control_energy[4] {};
float _control_prev[3] {};
SlewRate<float> _spoiler_setpoint_with_slewrate;
SlewRate<float> _flaps_setpoint_with_slewrate;
bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states
DEFINE_PARAMETERS(
@@ -169,22 +163,13 @@ private:
(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
(ParamFloat<px4::params::FW_DTRIM_P_FLPS>) _param_fw_dtrim_p_flps,
(ParamFloat<px4::params::FW_DTRIM_P_SPOIL>) _param_fw_dtrim_p_spoil,
(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
(ParamFloat<px4::params::FW_DTRIM_R_FLPS>) _param_fw_dtrim_r_flps,
(ParamFloat<px4::params::FW_DTRIM_R_VMAX>) _param_fw_dtrim_r_vmax,
(ParamFloat<px4::params::FW_DTRIM_R_VMIN>) _param_fw_dtrim_r_vmin,
(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
(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_SPOILERS_MAN>) _param_fw_spoilers_man,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,
@@ -212,25 +197,13 @@ private:
(ParamFloat<px4::params::TRIM_PITCH>) _param_trim_pitch,
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
)
RateControl _rate_control; ///< class for rate control calculations
/**
* @brief Update flap control setting
*
* @param dt Current time delta [s]
*/
void controlFlaps(const float dt);
/**
* @brief Update spoiler control setting
*
* @param dt Current time delta [s]
*/
void controlSpoilers(const float dt);
void updateActuatorControlsStatus(float dt);
/**