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tailsitter: enable roll and pitch control through differential thrust in FW

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-07-18 16:32:33 +02:00
parent 17a020c6a5
commit 25c049f3c9
2 changed files with 15 additions and 1 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+13 -1
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@@ -335,7 +335,19 @@ void Tailsitter::fill_actuator_outputs()
// FW thrust is allocated on mc_thrust_sp[0] for tailsitter with dynamic control allocation
_thrust_setpoint_0->xyz[2] = -fw_in[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
// output differential thrust for roll if enabled (to achieve roll contorl in FW we need controller yaw output)
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::ROLL_BIT)) {
mc_out[actuator_controls_s::INDEX_YAW] = -fw_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_r.get() ;
_torque_setpoint_0->xyz[2] = -fw_in[actuator_controls_s::INDEX_ROLL] * _param_vt_fw_difthr_s_r.get() ;
}
// output differential thrust for pitch if enabled
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::PITCH_BIT)) {
mc_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH] * _param_vt_fw_difthr_s_p.get() ;
_torque_setpoint_0->xyz[1] = fw_in[actuator_controls_s::INDEX_PITCH] * _param_vt_fw_difthr_s_p.get() ;
}
// output differential thrust for yaw if enabled (to achieve yaw contorl in FW we need controller roll output)
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _param_vt_fw_difthr_s_y.get() ;
_torque_setpoint_0->xyz[0] = fw_in[actuator_controls_s::INDEX_YAW] * _param_vt_fw_difthr_s_y.get() ;
src/modules/vtol_att_control/vtol_type.h
+2
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@@ -299,6 +299,8 @@ protected:
(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en,
(ParamFloat<px4::params::VT_FW_DIFTHR_S_P>) _param_vt_fw_difthr_s_p,
(ParamFloat<px4::params::VT_FW_DIFTHR_S_R>) _param_vt_fw_difthr_s_r,
(ParamFloat<px4::params::VT_FW_DIFTHR_S_Y>) _param_vt_fw_difthr_s_y,
(ParamFloat<px4::params::VT_B_DEC_FF>) _param_vt_b_dec_ff,
(ParamFloat<px4::params::VT_B_DEC_I>) _param_vt_b_dec_i,