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Remove INDEX_COLLECTIVE_TILT from actuator_controls and instead use new topic tiltrotor_extra_controls

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Tiltrotor_extra_controls also contains collective thrust beside collective tilt, as passing a 3D
thrust setpoint vector beside the tilt is not feasible.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 21c7f8ad74
commit 4b54ddfe61
9 changed files with 36 additions and 26 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+15 -12
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@@ -428,16 +428,16 @@ void Tiltrotor::fill_actuator_outputs()
_torque_setpoint_0->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_torque_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
// 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.
float collective_thrust_normalized_setpoint = 0.f;
if (_vtol_mode == vtol_mode::FW_MODE) {
// 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];
// 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];
collective_thrust_normalized_setpoint = fw_in[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
@@ -446,10 +446,8 @@ 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;
collective_thrust_normalized_setpoint = mc_in[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
}
// Landing gear
@@ -461,8 +459,6 @@ void Tiltrotor::fill_actuator_outputs()
}
// Fixed wing output
fw_out[actuator_controls_s::INDEX_COLLECTIVE_TILT] = _tilt_control;
if (_param_vt_elev_mc_lock.get() && _vtol_mode == vtol_mode::MC_MODE) {
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
@@ -485,6 +481,13 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
_actuators_out_0->timestamp = _actuators_out_1->timestamp = hrt_absolute_time();
// publish tiltrotor extra controls
tiltrotor_extra_controls_s tiltrotor_extra_controls = {};
tiltrotor_extra_controls.collective_tilt_normalized_setpoint = _tilt_control;
tiltrotor_extra_controls.collective_thrust_normalized_setpoint = collective_thrust_normalized_setpoint;
tiltrotor_extra_controls.timestamp = hrt_absolute_time();
_tiltrotor_extra_controls_pub.publish(tiltrotor_extra_controls);
}
void Tiltrotor::blendThrottleAfterFrontTransition(float scale)