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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
2022-05-03 15:11:21 +02:00
parent 21a2892f47
commit 4b8f93de5c
14 changed files with 167 additions and 105 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+24 -6
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@@ -40,6 +40,7 @@
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <lib/slew_rate/SlewRate.hpp>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
@@ -78,6 +79,9 @@ using uORB::SubscriptionData;
using namespace time_literals;
static constexpr float kFlapSlewRate = 1.f; //minimum time from none to full flap deflection [s]
static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s]
class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
public px4::WorkItem
{
@@ -139,9 +143,6 @@ private:
hrt_abstime _last_run{0};
float _flaps_applied{0.0f};
float _flaperons_applied{0.0f};
float _airspeed_scaling{1.0f};
bool _landed{true};
@@ -156,6 +157,9 @@ private:
float _control_energy[4] {};
float _control_prev[3] {};
SlewRate<float> _spoiler_setpoint_with_slewrate;
SlewRate<float> _flaps_setpoint_with_slewrate;
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
@@ -171,6 +175,7 @@ private:
(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
(ParamFloat<px4::params::FW_DTRIM_P_FLPS>) _param_fw_dtrim_p_flps,
(ParamFloat<px4::params::FW_DTRIM_P_SPOIL>) _param_fw_dtrim_p_spoil,
(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
(ParamFloat<px4::params::FW_DTRIM_R_FLPS>) _param_fw_dtrim_r_flps,
@@ -179,10 +184,11 @@ private:
(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
(ParamFloat<px4::params::FW_FLAPERON_SCL>) _param_fw_flaperon_scl,
(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
(ParamFloat<px4::params::FW_FLAPS_SCL>) _param_fw_flaps_scl,
(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
(ParamFloat<px4::params::FW_SPOILERS_DESC>) _param_fw_spoilers_desc,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
@@ -230,7 +236,19 @@ private:
ECL_YawController _yaw_ctrl;
ECL_WheelController _wheel_ctrl;
void control_flaps(const float dt);
/**
* @brief Update flap control setting
*
* @param dt Current time delta [s]
*/
void controlFlaps(const float dt);
/**
* @brief Update spoiler control setting
*
* @param dt Current time delta [s]
*/
void controlSpoilers(const float dt);
void updateActuatorControlsStatus(float dt);