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VTOL: remove pusher reverse feature

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-02 22:26:49 +01:00
parent c09bf66639
commit 4be74befd2
7 changed files with 2 additions and 55 deletions
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4
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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@ -122,16 +122,12 @@ param set-default VT_TRANS_MIN_TM 15
param set-default VT_B_TRANS_DUR 8
param set-default VT_FWD_THRUST_SC 4
param set-default VT_F_TRANS_DUR 1
param set-default VT_B_REV_OUT 0.5
param set-default VT_B_TRANS_THR 0.7
param set-default VT_TRANS_TIMEOUT 22
param set-default VT_F_TRANS_RAMP 4
param set-default COM_RC_OVERRIDE 0
param set-default CA_AIRFRAME 2
param set-default CA_ROTOR_COUNT 5

3
src/modules/navigator/mission_block.cpp
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@ -348,10 +348,9 @@ MissionBlock::is_mission_item_reached_or_completed()
_navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
const float back_trans_dec = _navigator->get_vtol_back_trans_deceleration();
const float reverse_delay = _navigator->get_vtol_reverse_delay();
if (back_trans_dec > FLT_EPSILON && velocity > FLT_EPSILON) {
acceptance_radius = ((velocity / back_trans_dec / 2) * velocity) + reverse_delay * velocity;
acceptance_radius = (velocity / back_trans_dec / 2) * velocity;
}

3
src/modules/navigator/navigator.h
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@ -314,7 +314,6 @@ public:
float get_lndmc_alt_max() const { return _param_lndmc_alt_max.get(); }
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
float get_vtol_reverse_delay() const { return _param_reverse_delay; }
bool force_vtol();
@ -401,12 +400,10 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE] {}; /**< array of navigation modes */
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
param_t _handle_reverse_delay{PARAM_INVALID};
param_t _handle_mpc_jerk_auto{PARAM_INVALID};
param_t _handle_mpc_acc_hor{PARAM_INVALID};
float _param_back_trans_dec_mss{0.f};
float _param_reverse_delay{0.f};
float _param_mpc_jerk_auto{4.f}; /**< initialized with the default jerk auto value to prevent division by 0 if the parameter is accidentally set to 0 */
float _param_mpc_acc_hor{3.f}; /**< initialized with the default horizontal acc value to prevent division by 0 if the parameter is accidentally set to 0 */

5
src/modules/navigator/navigator_main.cpp
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@ -96,7 +96,6 @@ Navigator::Navigator() :
}
_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
_handle_reverse_delay = param_find("VT_B_REV_DEL");
_handle_mpc_jerk_auto = param_find("MPC_JERK_AUTO");
_handle_mpc_acc_hor = param_find("MPC_ACC_HOR");
@ -127,10 +126,6 @@ void Navigator::params_update()
param_get(_handle_back_trans_dec_mss, &_param_back_trans_dec_mss);
}
if (_handle_reverse_delay != PARAM_INVALID) {
param_get(_handle_reverse_delay, &_param_reverse_delay);
}
if (_handle_mpc_jerk_auto != PARAM_INVALID) {
param_get(_handle_mpc_jerk_auto, &_param_mpc_jerk_auto);
}

11
src/modules/vtol_att_control/standard.cpp
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@ -76,7 +76,6 @@ void Standard::update_vtol_state()
// Failsafe event, engage mc motors immediately
_vtol_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (!_attc->is_fixed_wing_requested()) {
@ -85,20 +84,17 @@ void Standard::update_vtol_state()
// in mc mode
_vtol_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_reverse_output = 0.0f;
} else if (_vtol_mode == vtol_mode::FW_MODE) {
// Regular backtransition
resetTransitionStates();
_vtol_mode = vtol_mode::TRANSITION_TO_MC;
_reverse_output = _param_vt_b_rev_out.get();
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
_vtol_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
// speed exit condition: use ground if valid, otherwise airspeed
@ -250,12 +246,6 @@ void Standard::update_transition_state()
_pusher_throttle = 0.0f;
if (_time_since_trans_start >= _param_vt_b_rev_del.get()) {
// Handle throttle reversal for active breaking
_pusher_throttle = math::constrain((_time_since_trans_start - _param_vt_b_rev_del.get())
* _param_vt_psher_slew.get(), 0.0f, _param_vt_b_trans_thr.get());
}
// continually increase mc attitude control as we transition back to mc mode
if (_param_vt_b_trans_ramp.get() > FLT_EPSILON) {
mc_weight = _time_since_trans_start / _param_vt_b_trans_ramp.get();
@ -335,7 +325,6 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = _reverse_output;
break;

5
src/modules/vtol_att_control/standard.h
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@ -75,7 +75,6 @@ private:
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
float _pusher_throttle{0.0f};
float _reverse_output{0.0f};
float _airspeed_trans_blend_margin{0.0f};
void parameters_update() override;
@ -83,9 +82,7 @@ private:
DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
(ParamFloat<px4::params::VT_PSHER_SLEW>) _param_vt_psher_slew,
(ParamFloat<px4::params::VT_B_TRANS_RAMP>) _param_vt_b_trans_ramp,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
(ParamFloat<px4::params::VT_B_REV_OUT>) _param_vt_b_rev_out,
(ParamFloat<px4::params::VT_B_REV_DEL>) _param_vt_b_rev_del
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off
)
};
#endif

26
src/modules/vtol_att_control/standard_params.c
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@ -87,32 +87,6 @@ PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
*/
PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
/**
* Reverse thrust output during back transition
*
* @min 0
* @max 1
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
/**
* Delay in seconds before applying back transition throttle
*
* Set this to a value greater than 0 to give the motor time to spin down.
*
* @unit s
* @min 0
* @max 10
* @increment 1
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
/**
* Pusher throttle ramp up slew rate
*