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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 2022-12-07 14:31:28 +01:00
parent 21c7f8ad74
commit 4b54ddfe61
9 changed files with 36 additions and 26 deletions
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1
msg/ActuatorControls.msg
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@ -11,7 +11,6 @@ uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 INDEX_GIMBAL_SHUTTER = 3
uint8 INDEX_CAMERA_ZOOM = 4
uint8 INDEX_COLLECTIVE_TILT = 8
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1

1
msg/CMakeLists.txt
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@ -178,6 +178,7 @@ set(msg_files
TaskStackInfo.msg
TecsStatus.msg
TelemetryStatus.msg
TiltrotorExtraControls.msg
TimesyncStatus.msg
TrajectoryBezier.msg
TrajectorySetpoint.msg

4
msg/TiltrotorExtraControls.msg Normal file
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@ -0,0 +1,4 @@
uint64 timestamp # time since system start (microseconds)
float32 collective_tilt_normalized_setpoint # Collective tilt angle of motors of tiltrotor, 0: vertical, 1: horizontal [0, 1]
float32 collective_thrust_normalized_setpoint # Collective thrust setpoint [0, 1]

3
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
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@ -43,7 +43,6 @@
#include "ActuatorEffectivenessRotors.hpp"
#include "ActuatorEffectivenessControlSurfaces.hpp"
#include <uORB/topics/actuator_controls.h>
#include <uORB/Subscription.hpp>
class ActuatorEffectivenessTailsitterVTOL : public ModuleParams, public ActuatorEffectiveness
@ -81,6 +80,4 @@ protected:
uint32_t _stopped_motors{}; ///< currently stopped motors
int _first_control_surface_idx{0}; ///< applies to matrix 1
uORB::Subscription _actuator_controls_1_sub{ORB_ID(actuator_controls_1)};
};

17
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
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@ -110,10 +110,11 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
// apply tilt
if (matrix_index == 0) {
actuator_controls_s actuator_controls_1;
if (_actuator_controls_1_sub.copy(&actuator_controls_1)) {
float control_collective_tilt = actuator_controls_1.control[actuator_controls_s::INDEX_COLLECTIVE_TILT] * 2.f - 1.f;
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls)) {
float control_collective_tilt = tiltrotor_extra_controls.collective_tilt_normalized_setpoint * 2.f - 1.f;
// set control_collective_tilt to exactly -1 or 1 if close to these end points
control_collective_tilt = control_collective_tilt < -0.99f ? -1.f : control_collective_tilt;
@ -133,16 +134,12 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
}
}
}
// in FW directly use throttle sp
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
// in FW directly use throttle sp
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
actuator_controls_s actuator_controls_0;
if (_actuator_controls_0_sub.copy(&actuator_controls_0)) {
for (int i = 0; i < _first_tilt_idx; ++i) {
actuator_sp(i) = actuator_controls_0.control[actuator_controls_s::INDEX_THROTTLE];
actuator_sp(i) = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
}
}
}

3
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
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@ -46,6 +46,7 @@
#include "ActuatorEffectivenessControlSurfaces.hpp"
#include "ActuatorEffectivenessTilts.hpp"
#include <uORB/topics/tiltrotor_extra_controls.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/Subscription.hpp>
@ -107,4 +108,6 @@ protected:
};
YawTiltSaturationFlags _yaw_tilt_saturation_flags{};
uORB::Subscription _tiltrotor_extra_controls_sub{ORB_ID(tiltrotor_extra_controls)};
};

1
src/modules/logger/logged_topics.cpp
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@ -105,6 +105,7 @@ void LoggedTopics::add_default_topics()
add_topic("system_power", 500);
add_optional_topic("takeoff_status", 1000);
add_optional_topic("tecs_status", 200);
add_optional_topic("tiltrotor_extra_controls", 100);
add_topic("trajectory_setpoint", 200);
add_topic("transponder_report");
add_topic("vehicle_acceleration", 50);

27
src/modules/vtol_att_control/tiltrotor.cpp
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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)

5
src/modules/vtol_att_control/tiltrotor.h
View File

@ -44,6 +44,9 @@
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/tiltrotor_extra_controls.h>
class Tiltrotor : public VtolType
{
@ -77,6 +80,8 @@ private:
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
uORB::Publication<tiltrotor_extra_controls_s> _tiltrotor_extra_controls_pub{ORB_ID(tiltrotor_extra_controls)};
float _tilt_control{0.0f}; /**< actuator value for the tilt servo */
void parameters_update() override;