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tailsitter: removed common vtol parameters

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-02-27 14:03:08 +01:00 committed by Roman Bapst
parent 2c0436c37c
commit 5a2a5127fa
2 changed files with 5 additions and 45 deletions
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38
src/modules/vtol_att_control/tailsitter.cpp
View File

@ -50,7 +50,6 @@
Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
VtolType(attc),
_min_front_trans_dur(0.5f),
_thrust_transition_start(0.0f),
_yaw_transition(0.0f),
_pitch_transition_start(0.0f)
@ -64,11 +63,7 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
_flag_was_in_trans_mode = false;
_params_handles_tailsitter.front_trans_dur = param_find("VT_F_TRANS_DUR");
_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tailsitter.back_trans_dur = param_find("VT_B_TRANS_DUR");
_params_handles_tailsitter.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_tailsitter.airspeed_blend_start = param_find("VT_ARSP_BLEND");
}
Tailsitter::~Tailsitter()
@ -81,32 +76,9 @@ Tailsitter::parameters_update()
{
float v;
/* vtol duration of a front transition */
param_get(_params_handles_tailsitter.front_trans_dur, &v);
_params_tailsitter.front_trans_dur = math::constrain(v, 1.0f, 5.0f);
/* vtol front transition phase 2 duration */
param_get(_params_handles_tailsitter.front_trans_dur_p2, &v);
_params_tailsitter.front_trans_dur_p2 = v;
/* vtol duration of a back transition */
param_get(_params_handles_tailsitter.back_trans_dur, &v);
_params_tailsitter.back_trans_dur = math::constrain(v, 0.0f, 5.0f);
/* vtol airspeed at which it is ok to switch to fw mode */
param_get(_params_handles_tailsitter.airspeed_trans, &v);
_params_tailsitter.airspeed_trans = v;
/* vtol airspeed at which we start blending mc/fw controls */
param_get(_params_handles_tailsitter.airspeed_blend_start, &v);
_params_tailsitter.airspeed_blend_start = v;
/* avoid parameters which will lead to zero division in the transition code */
_params_tailsitter.front_trans_dur = math::max(_params_tailsitter.front_trans_dur, _min_front_trans_dur);
if (_params_tailsitter.airspeed_trans < _params_tailsitter.airspeed_blend_start + 1.0f) {
_params_tailsitter.airspeed_trans = _params_tailsitter.airspeed_blend_start + 1.0f;
}
}
void Tailsitter::update_vtol_state()
@ -168,7 +140,7 @@ void Tailsitter::update_vtol_state()
case TRANSITION_FRONT_P1:
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans
if ((_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed
&& pitch <= PITCH_TRANSITION_FRONT_P1) || can_transition_on_ground()) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
@ -236,7 +208,7 @@ void Tailsitter::update_transition_state()
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params->front_trans_duration * 1000000.0f));
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
_pitch_transition_start);
@ -299,7 +271,7 @@ void Tailsitter::update_transition_state()
/** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.back_trans_dur * 1000000.0f);
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params->back_trans_duration * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);
@ -310,9 +282,9 @@ void Tailsitter::update_transition_state()
/** smoothly move control weight to MC */
_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_tailsitter.back_trans_dur * 1000000.0f);
(_params->back_trans_duration * 1000000.0f);
_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_tailsitter.back_trans_dur * 1000000.0f);
(_params->back_trans_duration * 1000000.0f);
}

12
src/modules/vtol_att_control/tailsitter.h
View File

@ -64,20 +64,11 @@ public:
private:
struct {
float front_trans_dur; /**< duration of first part of front transition */
float front_trans_dur_p2;
float back_trans_dur; /**< duration of back transition */
float airspeed_trans; /**< airspeed at which we switch to fw mode after transition */
float airspeed_blend_start; /**< airspeed at which we start blending mc/fw controls */
} _params_tailsitter;
struct {
param_t front_trans_dur;
param_t front_trans_dur_p2;
param_t back_trans_dur;
param_t airspeed_trans;
param_t airspeed_blend_start;
} _params_handles_tailsitter;
enum vtol_mode {
@ -93,9 +84,6 @@ private:
hrt_abstime transition_start; /**< absoulte time at which front transition started */
} _vtol_schedule;
/** not sure about it yet ?! **/
float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
float _thrust_transition_start; // throttle value when we start the front transition
float _yaw_transition; // yaw angle in which transition will take place
float _pitch_transition_start; // pitch angle at the start of transition (tailsitter)