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tailsitter, tiltrotor:

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- use the transition trust when waiting for TECS to kick in
after transition
This commit is contained in:
tumbili
2016-02-18 18:55:56 +01:00
committed by Lorenz Meier
parent 0ccf0ce747
commit 4c61b05ef3
5 changed files with 43 additions and 20 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+17 -6
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@@ -52,7 +52,9 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
VtolType(attc),
_airspeed_tot(0.0f),
_min_front_trans_dur(0.5f),
_thrust_transition_start(0.0f),
_yaw_transition(0.0f),
_pitch_transition_start(0.0f),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
{
@@ -233,7 +235,7 @@ void Tailsitter::update_transition_state()
// save desired heading for transition and last thrust value
_yaw_transition = _v_att_sp->yaw_body;
_pitch_transition_start = _v_att_sp->pitch_body;
_throttle_transition = _v_att_sp->thrust;
_thrust_transition_start = _v_att_sp->thrust;
_flag_was_in_trans_mode = true;
}
@@ -247,10 +249,11 @@ void Tailsitter::update_transition_state()
/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */
if (_airspeed->true_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
_v_att_sp->thrust = _throttle_transition + (fabsf(THROTTLE_TRANSITION_MAX * _throttle_transition) *
_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_v_att_sp->thrust = math::constrain(_v_att_sp->thrust , _throttle_transition ,
(1.0f + THROTTLE_TRANSITION_MAX) * _throttle_transition);
_thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start ,
(1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
_v_att_sp->thrust = _thrust_transition;
}
// disable mc yaw control once the plane has picked up speed
@@ -286,6 +289,8 @@ void Tailsitter::update_transition_state()
}
_v_att_sp->thrust = _thrust_transition;
/** start blending MC and FW controls from pitch -45 to pitch -70 for smooth control takeover*/
//_mc_roll_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
@@ -312,7 +317,7 @@ void Tailsitter::update_transition_state()
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK + 0.2f);
// throttle value is decreesed
_v_att_sp->thrust = _throttle_transition * 0.9f;
_v_att_sp->thrust = _thrust_transition_start * 0.9f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
@@ -348,6 +353,12 @@ void Tailsitter::update_transition_state()
memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));
}
void Tailsitter::waiting_on_tecs()
{
// copy the last trust value from the front transition
_v_att_sp->thrust = _thrust_transition;
}
void Tailsitter::calc_tot_airspeed()
{
float airspeed = math::max(1.0f, _airspeed->true_airspeed_m_s); // prevent numerical drama