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VTOL: rework forward actuation assist

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-allow positive pitch offsets in hover
-add param for min pitch during LAND

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-06 11:27:19 -04:00
committed by Daniel Agar
parent f0de88fada
commit 4e3fa7cf35
8 changed files with 65 additions and 29 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+9 -6
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@@ -91,8 +91,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.dec_to_pitch_i = param_find("VT_B_DEC_I");
_params_handles.back_trans_dec_sp = param_find("VT_B_DEC_MSS");
_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles.pitch_min_rad = param_find("VT_PTCH_MIN");
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
@@ -100,8 +99,8 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.mpc_land_alt1 = param_find("MPC_LAND_ALT1");
_params_handles.mpc_land_alt2 = param_find("MPC_LAND_ALT2");
_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles.land_pitch_min_rad = param_find("VT_LND_PTCH_MIN");
/* fetch initial parameter values */
parameters_update();
@@ -326,8 +325,12 @@ VtolAttitudeControl::parameters_update()
_params.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
/* maximum down pitch allowed */
param_get(_params_handles.down_pitch_max, &v);
_params.down_pitch_max = math::radians(v);
param_get(_params_handles.pitch_min_rad, &v);
_params.pitch_min_rad = math::radians(v);
/* maximum down pitch allowed during landing*/
param_get(_params_handles.land_pitch_min_rad, &v);
_params.land_pitch_min_rad = math::radians(v);
/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
param_get(_params_handles.forward_thrust_scale, &_params.forward_thrust_scale);