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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/vtol_att_control/standard.cpp
-13
View File
@@ -229,10 +229,6 @@ void Standard::update_transition_state()
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
// set spoiler and flaps to 0
_flaps_setpoint_with_slewrate.update(0.f, _dt);
_spoiler_setpoint_with_slewrate.update(0.f, _dt);
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
if (_v_control_mode->flag_control_climb_rate_enabled) {
@@ -299,10 +295,6 @@ void Standard::fill_actuator_outputs()
fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = 0;
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = 0.f;
break;
case vtol_mode::TRANSITION_TO_FW:
@@ -320,8 +312,6 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH] * (1.f - _mc_pitch_weight);
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW] * (1.f - _mc_yaw_weight);
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
break;
@@ -337,9 +327,6 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW];
fw_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = 0;
break;
}