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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 21a2892f47
commit 4b8f93de5c
14 changed files with 167 additions and 105 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+8 -6
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@@ -842,9 +842,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
_l1_control.set_dt(dt);
}
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
/* save time when airplane is in air */
if (!_was_in_air && !_landed) {
_was_in_air = true;
@@ -1356,7 +1353,8 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
// have to do this switch (which can cause significant altitude errors) close to the ground.
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
airspeed_sp = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
_att_sp.apply_flaps = true;
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
}
float target_airspeed = get_auto_airspeed_setpoint(now, airspeed_sp, ground_speed, dt);
@@ -1684,9 +1682,9 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
prev_wp(1) = pos_sp_curr.lon;
}
// apply full flaps for landings. this flag will also trigger the use of flaperons
// if they have been enabled using the corresponding parameter
// Apply flaps and spoilers for landing. Amount of deflection is handled in the FW attitdue controller
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
// Enable tighter altitude control for landings
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
@@ -2391,6 +2389,10 @@ FixedwingPositionControl::Run()
set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
switch (_control_mode_current) {
case FW_POSCTRL_MODE_AUTO: {
control_auto(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,