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FW: rework spoiler/flap control logic

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- remove separate flaperon controls input to mixer instead enable spoiler support
- add slew rate limiting on both flap and spoiler controls
- add spoiler configuration for Landing and Descend
- add trimming from spoiler deflection
- FW Attitude control: remove FW_FLAPS_SCL param -->
    The flap settings for takeoff and landing are now specified relative to full range.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-04-27 16:58:33 +02:00
parent ec43da5890
commit 4265c60f2e
14 changed files with 167 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane
+2
View File
@@ -25,6 +25,8 @@ param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_SPOILERS_LND 0.8
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_THR_CRUISE 0.25
ROMFS/px4fmu_common/mixers-sitl/plane_sitl.main.mix
+4 -2
View File
@@ -21,14 +21,16 @@ O: 10000 10000 0 -10000 10000
S: 0 3 0 20000 -10000 -10000 10000
# mixer for the left aileron
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
# mixer for the right aileron
M: 1
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
# mixer for the elevator
M: 1
ROMFS/px4fmu_common/mixers/AAERTWF.main.mix
+3 -3
View File
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
Elevator mixer
------------
ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix
+3 -3
View File
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------
ROMFS/px4fmu_common/mixers/AAVVTWFF_vtail.main.mix
+4 -4
View File
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up mechanically reversed.
M: 2
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
S: 0 0 -10000 -10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------
ROMFS/px4fmu_common/mixers/vtol_AAVVT.aux.mix
+4 -4
View File
@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
The configuration assumes the aileron servos are connected to PX4FMU
The configuration assumes the aileron servos are connected to PX4FMU
AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.
M: 2
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
S: 1 5 10000 10000 0 -10000 10000
M: 2
S: 1 0 -10000 -10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
S: 1 5 -10000 -10000 0 -10000 10000
V-tail mixers
ROMFS/px4fmu_test/mixers/AAERTWF.main.mix
+3 -3
View File
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
Elevator mixer
------------
ROMFS/px4fmu_test/mixers/AAVVTWFF.main.mix
+4 -4
View File
@@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4, the wheel to output 5 and the flaps to output 6 and 7.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,12 +22,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 10000 10000 0 -10000 10000
S: 0 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 0 0 10000 10000 0 -10000 10000
S: 0 6 -10000 -10000 0 -10000 10000
S: 0 5 -10000 -10000 0 -10000 10000
V-tail mixers
-------------
ROMFS/px4fmu_test/mixers/vtol_AAVVT.aux.mix
+5 -5
View File
@@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
This file defines mixers suitable for controlling a fixed wing aircraft with
aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
The configuration assumes the aileron servos are connected to PX4FMU
The configuration assumes the aileron servos are connected to PX4FMU
AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
to output 4.
Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
Aileron mixer (roll + flaperon)
Aileron mixer (roll + spoiler)
---------------------------------
This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 10000 10000 0 -10000 10000
S: 1 5 10000 10000 0 -10000 10000
M: 2
O: 10000 10000 0 -10000 10000
S: 1 0 10000 10000 0 -10000 10000
S: 1 6 -10000 -10000 0 -10000 10000
S: 1 5 -10000 -10000 0 -10000 10000
V-tail mixers