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Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator

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Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-11 10:19:37 +02:00
parent a71d101869
commit 46179586fb
5 changed files with 35 additions and 4 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+7 -4
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@@ -514,8 +514,11 @@ void Tiltrotor::fill_actuator_outputs()
// for the legacy mixing system pubish FW throttle on the MC output
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
// FW thrust is allocated on mc_thrust_sp[0] for tiltrotor with dynamic control allocation
_thrust_setpoint_0->xyz[0] = fw_in[actuator_controls_s::INDEX_THROTTLE];
// Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC),
// pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
// can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
// by the allocator directly.
_thrust_setpoint_0->xyz[2] = fw_in[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_params->diff_thrust == 1) {
@@ -525,9 +528,9 @@ void Tiltrotor::fill_actuator_outputs()
} else {
// see comment above for passing magnitude of thrust, not 3D thrust
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
_thrust_setpoint_0->xyz[2] = -mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
_thrust_setpoint_0->xyz[0] = -_thrust_setpoint_0->xyz[2] * sinf(_tilt_control * M_PI_2_F);
_thrust_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
}
// Landing gear