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Reverse pusher delay

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Thist adds a delay for the reverse thrust to allow the motor to brake and avoid sync issues.
This commit is contained in:
sanderux
2017-08-30 08:08:25 +02:00
committed by Lorenz Meier
parent 3fd7e3f89c
commit 595d706eaf
3 changed files with 32 additions and 5 deletions
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src/modules/vtol_att_control/standard.cpp
+16 -5
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@@ -75,6 +75,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
_params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL");
_params_handles_standard.back_trans_throttle = param_find("VT_B_TRANS_THR");
_params_handles_standard.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
@@ -141,6 +142,10 @@ Standard::parameters_update()
param_get(_params_handles_standard.reverse_output, &v);
_params_standard.reverse_output = math::constrain(v, 0.0f, 1.0f);
/* reverse output */
param_get(_params_handles_standard.reverse_delay, &v);
_params_standard.reverse_delay = math::constrain(v, 0.0f, 10.0f);
/* reverse throttle */
param_get(_params_handles_standard.back_trans_throttle, &v);
_params_standard.back_trans_throttle = math::constrain(v, -1.0f, 1.0f);
@@ -346,11 +351,17 @@ void Standard::update_transition_state()
q_sp.copyTo(_v_att_sp->q_d);
_v_att_sp->q_d_valid = true;
// Handle throttle reversal for active breaking
float thrscale = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur *
1000000.0f);
thrscale = math::constrain(thrscale, 0.0f, 1.0f);
_pusher_throttle = thrscale * _params_standard.back_trans_throttle;
hrt_abstime btrans_start;
btrans_start = _vtol_schedule.transition_start + uint64_t(_params_standard.reverse_delay) * 1000000.0f;
_pusher_throttle = 0.0f;
if (hrt_absolute_time() >= btrans_start) {
// Handle throttle reversal for active breaking
float thrscale = (float)hrt_elapsed_time(&btrans_start) / (_params_standard.front_trans_dur *
1000000.0f);
thrscale = math::constrain(thrscale, 0.0f, 1.0f);
_pusher_throttle = thrscale * _params_standard.back_trans_throttle;
}
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_ramp > FLT_EPSILON) {