diff --git a/ROMFS/px4fmu_common/init.d/13005_vtol_AERT_quad b/ROMFS/px4fmu_common/init.d/13005_vtol_AERT_quad new file mode 100644 index 0000000000..a3e183a84a --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/13005_vtol_AERT_quad @@ -0,0 +1,50 @@ +#!nsh +# +# @name Generic AERT with Quad VTOL. +# +# @type Standard VTOL +# +# @maintainer Simon Wilks +# + +sh /etc/init.d/rc.vtol_defaults + +if [ $AUTOCNF == yes ] +then + param set VT_TYPE 2 + param set VT_MOT_COUNT 4 + param set VT_TRANS_THR 0.75 + + param set MC_ROLL_P 7.0 + param set MC_ROLLRATE_P 0.15 + param set MC_ROLLRATE_I 0.002 + param set MC_ROLLRATE_D 0.003 + param set MC_ROLLRATE_FF 0.0 + param set MC_PITCH_P 7.0 + param set MC_PITCHRATE_P 0.12 + param set MC_PITCHRATE_I 0.002 + param set MC_PITCHRATE_D 0.003 + param set MC_PITCHRATE_FF 0.0 + param set MC_YAW_P 2.8 + param set MC_YAW_FF 0.5 + param set MC_YAWRATE_P 0.22 + param set MC_YAWRATE_I 0.02 + param set MC_YAWRATE_D 0.0 + param set MC_YAWRATE_FF 0.0 +fi + +set MIXER vtol_quad_x +set PWM_OUT 12345678 + +set MIXER_AUX vtol_AERT +set PWM_AUX_RATE 50 +set PWM_AUX_OUT 1234 +set PWM_AUX_DISARMED 1000 +set PWM_AUX_MIN 1000 +set PWM_AUX_MAX 2000 + +set MAV_TYPE 22 + +param set VT_MOT_COUNT 4 +param set VT_IDLE_PWM_MC 1080 +param set VT_TYPE 2 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6e74704e1a..098c23a9d6 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -637,6 +637,10 @@ then then set MAV_TYPE 21 fi + if [ $MIXER == quad_x_pusher_vtol ] + then + set MAV_TYPE 22 + fi fi # Still no MAV_TYPE found diff --git a/ROMFS/px4fmu_common/mixers/vtol_AERT.aux.mix b/ROMFS/px4fmu_common/mixers/vtol_AERT.aux.mix new file mode 100644 index 0000000000..260e60840a --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/vtol_AERT.aux.mix @@ -0,0 +1,30 @@ +Mixer for a horizontal format with X-Quad and tractor AERT plane configuration +============================================================================== + +Motor speed mixer +----------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 3 0 20000 -10000 -10000 10000 + +Aileron mixers +-------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 0 -7500 -7500 0 -10000 10000 + +Elevator mixer +-------------- +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 1 10000 10000 0 -10000 10000 + +Rudder mixer +------------ +M: 1 +O: 10000 10000 0 -10000 10000 +S: 1 2 -10000 -10000 0 -10000 10000 diff --git a/ROMFS/px4fmu_common/mixers/vtol_quad_x.main.mix b/ROMFS/px4fmu_common/mixers/vtol_quad_x.main.mix new file mode 100644 index 0000000000..92bfce6c8c --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/vtol_quad_x.main.mix @@ -0,0 +1,4 @@ +# VTOL quad X mixer for PX4FMU +#============================= + +R: 4x 10000 10000 10000 0 diff --git a/src/modules/vtol_att_control/module.mk b/src/modules/vtol_att_control/module.mk index ad6efd2b27..d3f9326b04 100644 --- a/src/modules/vtol_att_control/module.mk +++ b/src/modules/vtol_att_control/module.mk @@ -42,6 +42,8 @@ SRCS = vtol_att_control_main.cpp \ tiltrotor_params.c \ tiltrotor.cpp \ vtol_type.cpp \ - tailsitter.cpp + tailsitter.cpp \ + standard_params.c \ + standard.cpp EXTRACXXFLAGS = -Wno-write-strings diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp new file mode 100644 index 0000000000..c38a935ff7 --- /dev/null +++ b/src/modules/vtol_att_control/standard.cpp @@ -0,0 +1,296 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file standard.cpp + * + * @author Simon Wilks + * @author Roman Bapst + * +*/ + +#include "standard.h" +#include "vtol_att_control_main.h" + +Standard::Standard(VtolAttitudeControl *attc) : + VtolType(attc), + _flag_enable_mc_motors(true), + _pusher_throttle(0.0f), + _mc_att_ctl_weight(1.0f), + _airspeed_trans_blend_margin(0.0f) +{ + _vtol_schedule.flight_mode = MC_MODE; + _vtol_schedule.transition_start = 0; + + _params_handles_standard.front_trans_dur = param_find("VT_F_TRANS_DUR"); + _params_handles_standard.back_trans_dur = param_find("VT_B_TRANS_DUR"); + _params_handles_standard.pusher_trans = param_find("VT_TRANS_THR"); + _params_handles_standard.airspeed_blend = param_find("VT_ARSP_BLEND"); + _params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS"); + } + +Standard::~Standard() +{ +} + +int +Standard::parameters_update() +{ + float v; + + /* duration of a forwards transition to fw mode */ + param_get(_params_handles_standard.front_trans_dur, &v); + _params_standard.front_trans_dur = math::constrain(v, 0.0f, 5.0f); + + /* duration of a back transition to mc mode */ + param_get(_params_handles_standard.back_trans_dur, &v); + _params_standard.back_trans_dur = math::constrain(v, 0.0f, 5.0f); + + /* target throttle value for pusher motor during the transition to fw mode */ + param_get(_params_handles_standard.pusher_trans, &v); + _params_standard.pusher_trans = math::constrain(v, 0.0f, 5.0f); + + /* airspeed at which it we should switch to fw mode */ + param_get(_params_handles_standard.airspeed_trans, &v); + _params_standard.airspeed_trans = math::constrain(v, 1.0f, 20.0f); + + /* airspeed at which we start blending mc/fw controls */ + param_get(_params_handles_standard.airspeed_blend, &v); + _params_standard.airspeed_blend = math::constrain(v, 0.0f, 20.0f); + + _airspeed_trans_blend_margin = _params_standard.airspeed_trans - _params_standard.airspeed_blend; + + return OK; +} + +void Standard::update_vtol_state() +{ + parameters_update(); + + /* After flipping the switch the vehicle will start the pusher (or tractor) motor, picking up + * forward speed. After the vehicle has picked up enough speed the rotors shutdown. + * For the back transition the pusher motor is immediately stopped and rotors reactivated. + */ + + if (_manual_control_sp->aux1 < 0.0f) { + // the transition to fw mode switch is off + if (_vtol_schedule.flight_mode == MC_MODE) { + // in mc mode + _vtol_schedule.flight_mode = MC_MODE; + _mc_att_ctl_weight = 1.0f; + + } else if (_vtol_schedule.flight_mode == FW_MODE) { + // transition to mc mode + _vtol_schedule.flight_mode = TRANSITION_TO_MC; + _flag_enable_mc_motors = true; + _vtol_schedule.transition_start = hrt_absolute_time(); + + } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { + // failsafe back to mc mode + _vtol_schedule.flight_mode = MC_MODE; + _mc_att_ctl_weight = 1.0f; + + } else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { + // keep transitioning to mc mode + _vtol_schedule.flight_mode = MC_MODE; + } + + // the pusher motor should never be powered when in or transitioning to mc mode + _pusher_throttle = 0.0f; + + } else { + // the transition to fw mode switch is on + if (_vtol_schedule.flight_mode == MC_MODE) { + // start transition to fw mode + _vtol_schedule.flight_mode = TRANSITION_TO_FW; + _vtol_schedule.transition_start = hrt_absolute_time(); + + } else if (_vtol_schedule.flight_mode == FW_MODE) { + // in fw mode + _vtol_schedule.flight_mode = FW_MODE; + _mc_att_ctl_weight = 0.0f; + + } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { + // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode + if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans) { + _vtol_schedule.flight_mode = FW_MODE; + // we can turn off the multirotor motors now + _flag_enable_mc_motors = false; + // don't set pusher throttle here as it's being ramped up elsewhere + } + + } else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { + // transitioning to mc mode & transition switch on - failsafe back into fw mode + _vtol_schedule.flight_mode = FW_MODE; + } + } + + // map specific control phases to simple control modes + switch(_vtol_schedule.flight_mode) { + case MC_MODE: + _vtol_mode = ROTARY_WING; + break; + case FW_MODE: + _vtol_mode = FIXED_WING; + break; + case TRANSITION_TO_FW: + case TRANSITION_TO_MC: + _vtol_mode = TRANSITION; + break; + } +} + +void Standard::update_transition_state() +{ + if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { + if (_params_standard.front_trans_dur <= 0.0f) { + // just set the final target throttle value + _pusher_throttle = _params_standard.pusher_trans; + } else if (_pusher_throttle <= _params_standard.pusher_trans) { + // ramp up throttle to the target throttle value + _pusher_throttle = _params_standard.pusher_trans * + (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur * 1000000.0f); + } + + // do blending of mc and fw controls if a blending airspeed has been provided + if (_airspeed_trans_blend_margin > 0.0f && _airspeed->true_airspeed_m_s >= _params_standard.airspeed_blend) { + _mc_att_ctl_weight = 1.0f - fabsf(_airspeed->true_airspeed_m_s - _params_standard.airspeed_blend) / _airspeed_trans_blend_margin; + } else { + // at low speeds give full weight to mc + _mc_att_ctl_weight = 1.0f; + } + + } else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { + // continually increase mc attitude control as we transition back to mc mode + if (_params_standard.back_trans_dur > 0.0f) { + _mc_att_ctl_weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.back_trans_dur * 1000000.0f); + } else { + _mc_att_ctl_weight = 1.0f; + } + + // in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again + if (_flag_enable_mc_motors) { + set_max_mc(2000); + set_idle_mc(); + _flag_enable_mc_motors = false; + } + } + + _mc_att_ctl_weight = math::constrain(_mc_att_ctl_weight, 0.0f, 1.0f); +} + +void Standard::update_mc_state() +{ + // do nothing +} + +void Standard::process_mc_data() +{ + fill_att_control_output(); +} + +void Standard::process_fw_data() +{ + fill_att_control_output(); +} + + void Standard::update_fw_state() +{ + // in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again + if (!_flag_enable_mc_motors) { + set_max_mc(950); + set_idle_fw(); // force them to stop, not just idle + _flag_enable_mc_motors = true; + } + } + +void Standard::update_external_state() +{ +} + +/** + * Prepare message to acutators with data from mc and fw attitude controllers. An mc attitude weighting will determine + * what proportion of control should be applied to each of the control groups (mc and fw). + */ +void Standard::fill_att_control_output() +{ + /* multirotor controls */ + _actuators_out_0->control[0] = _actuators_mc_in->control[0] * _mc_att_ctl_weight; // roll + _actuators_out_0->control[1] = _actuators_mc_in->control[1] * _mc_att_ctl_weight; // pitch + _actuators_out_0->control[2] = _actuators_mc_in->control[2] * _mc_att_ctl_weight; // yaw + _actuators_out_0->control[3] = _actuators_mc_in->control[3]; // throttle + + /* fixed wing controls */ + const float fw_att_ctl_weight = 1.0f - _mc_att_ctl_weight; + _actuators_out_1->control[0] = -_actuators_fw_in->control[0] * fw_att_ctl_weight; //roll + _actuators_out_1->control[1] = (_actuators_fw_in->control[1] + _params->fw_pitch_trim) * fw_att_ctl_weight; //pitch + _actuators_out_1->control[2] = _actuators_fw_in->control[2] * fw_att_ctl_weight; // yaw + + // set the fixed wing throttle control + if (_vtol_schedule.flight_mode == FW_MODE) { + // take the throttle value commanded by the fw controller + _actuators_out_1->control[3] = _actuators_fw_in->control[3]; + } else { + // otherwise we may be ramping up the throttle during the transition to fw mode + _actuators_out_1->control[3] = _pusher_throttle; + } +} + +/** +* Disable all multirotor motors when in fw mode. +*/ +void +Standard::set_max_mc(unsigned pwm_value) +{ + int ret; + unsigned servo_count; + char *dev = PWM_OUTPUT0_DEVICE_PATH; + int fd = open(dev, 0); + + if (fd < 0) {err(1, "can't open %s", dev);} + + ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); + struct pwm_output_values pwm_values; + memset(&pwm_values, 0, sizeof(pwm_values)); + + for (int i = 0; i < _params->vtol_motor_count; i++) { + pwm_values.values[i] = pwm_value; + pwm_values.channel_count = _params->vtol_motor_count; + } + + ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values); + + if (ret != OK) {errx(ret, "failed setting max values");} + + close(fd); +} diff --git a/src/modules/vtol_att_control/standard.h b/src/modules/vtol_att_control/standard.h new file mode 100644 index 0000000000..e4e1d92d85 --- /dev/null +++ b/src/modules/vtol_att_control/standard.h @@ -0,0 +1,107 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + /** + * @file standard.h + * VTOL with fixed multirotor motor configurations (such as quad) and a pusher + * (or puller aka tractor) motor for forward flight. + * + * @author Simon Wilks + * @author Roman Bapst + * + */ + +#ifndef STANDARD_H +#define STANDARD_H +#include "vtol_type.h" +#include +#include + +class Standard : public VtolType +{ + +public: + + Standard(VtolAttitudeControl * _att_controller); + ~Standard(); + + void update_vtol_state(); + void update_mc_state(); + void process_mc_data(); + void update_fw_state(); + void process_fw_data(); + void update_transition_state(); + void update_external_state(); + +private: + + struct { + float front_trans_dur; + float back_trans_dur; + float pusher_trans; + float airspeed_blend; + float airspeed_trans; + } _params_standard; + + struct { + param_t front_trans_dur; + param_t back_trans_dur; + param_t pusher_trans; + param_t airspeed_blend; + param_t airspeed_trans; + } _params_handles_standard; + + enum vtol_mode { + MC_MODE = 0, + TRANSITION_TO_FW, + TRANSITION_TO_MC, + FW_MODE + }; + + struct { + vtol_mode flight_mode; // indicates in which mode the vehicle is in + hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition) + }_vtol_schedule; + + bool _flag_enable_mc_motors; + float _pusher_throttle; + float _mc_att_ctl_weight; // the amount of multicopter attitude control that should be applied in fixed wing mode while transitioning + float _airspeed_trans_blend_margin; + + void fill_att_control_output(); + void set_max_mc(unsigned pwm_value); + + int parameters_update(); + +}; +#endif diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c new file mode 100644 index 0000000000..134dcd0b8a --- /dev/null +++ b/src/modules/vtol_att_control/standard_params.c @@ -0,0 +1,51 @@ +/**************************************************************************** + * + * Copyright (c) 2015 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file standard_params.c + * Parameters for the standard VTOL controller. + * + * @author Simon Wilks + * @author Roman Bapst + */ + +#include + +/** + * Target throttle value for pusher/puller motor during the transition to fw mode + * + * @min 0.0 + * @max 1.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_TRANS_THR, 0.6f); diff --git a/src/modules/vtol_att_control/tiltrotor_params.c b/src/modules/vtol_att_control/tiltrotor_params.c index 7d233f6f50..d4e925f072 100644 --- a/src/modules/vtol_att_control/tiltrotor_params.c +++ b/src/modules/vtol_att_control/tiltrotor_params.c @@ -39,28 +39,6 @@ */ #include - -/** - * Duration of a front transition - * - * Time in seconds used for a transition - * - * @min 0.0 - * @max 5 - * @group VTOL Attitude Control - */ -PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR,3.0f); - -/** - * Duration of a back transition - * - * Time in seconds used for a back transition - * - * @min 0.0 - * @max 5 - * @group VTOL Attitude Control - */ -PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR,2.0f); /** * Position of tilt servo in mc mode @@ -71,7 +49,7 @@ PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR,2.0f); * @max 1 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TILT_MC,0.0f); +PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f); /** * Position of tilt servo in transition mode @@ -82,7 +60,7 @@ PARAM_DEFINE_FLOAT(VT_TILT_MC,0.0f); * @max 1 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TILT_TRANS,0.3f); +PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f); /** * Position of tilt servo in fw mode @@ -93,15 +71,4 @@ PARAM_DEFINE_FLOAT(VT_TILT_TRANS,0.3f); * @max 1 * @group VTOL Attitude Control */ -PARAM_DEFINE_FLOAT(VT_TILT_FW,1.0f); - -/** - * Transition airspeed - * - * Airspeed at which we can switch to fw mode - * - * @min 0.0 - * @max 20 - * @group VTOL Attitude Control - */ -PARAM_DEFINE_FLOAT(VT_ARSP_TRANS,10.0f); +PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f); diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 7fbb43f769..92a591de51 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -123,6 +123,9 @@ VtolAttitudeControl::VtolAttitudeControl() : } else if (_params.vtol_type == 1) { _tiltrotor = new Tiltrotor(this); _vtol_type = _tiltrotor; + } else if (_params.vtol_type == 2) { + _standard = new Standard(this); + _vtol_type = _standard; } else { _task_should_exit = true; } diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h index 43e8969929..bf9a69d5c1 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.h +++ b/src/modules/vtol_att_control/vtol_att_control_main.h @@ -84,6 +84,7 @@ #include "tiltrotor.h" #include "tailsitter.h" +#include "standard.h" extern "C" __EXPORT int vtol_att_control_main(int argc, char *argv[]); @@ -188,6 +189,7 @@ private: VtolType * _vtol_type; // base class for different vtol types Tiltrotor * _tiltrotor; // tailsitter vtol type Tailsitter * _tailsitter; // tiltrotor vtol type + Standard * _standard; // standard vtol type //*****************Member functions*********************************************************************** diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index 33c095036c..56779ca8f9 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -143,10 +143,10 @@ PARAM_DEFINE_FLOAT(VT_PROP_EFF, 0.0f); PARAM_DEFINE_FLOAT(VT_ARSP_LP_GAIN, 0.3f); /** - * VTOL Type (Tailsitter=0, Tiltrotor=1) + * VTOL Type (Tailsitter=0, Tiltrotor=1, Standard=2) * * @min 0 - * @max 1 + * @max 2 * @group VTOL Attitude Control */ PARAM_DEFINE_INT32(VT_TYPE, 0); @@ -161,3 +161,47 @@ PARAM_DEFINE_INT32(VT_TYPE, 0); * @group VTOL Attitude Control */ PARAM_DEFINE_INT32(VT_ELEV_MC_LOCK, 0); + +/** + * Duration of a front transition + * + * Time in seconds used for a transition + * + * @min 0.0 + * @max 5 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_F_TRANS_DUR, 3.0f); + +/** + * Duration of a back transition + * + * Time in seconds used for a back transition + * + * @min 0.0 + * @max 5 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_B_TRANS_DUR, 2.0f); + +/** + * Transition blending airspeed + * + * Airspeed at which we can start blending both fw and mc controls. Set to 0 to disable. + * + * @min 0.0 + * @max 20.0 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_ARSP_BLEND, 8.0f); + +/** + * Transition airspeed + * + * Airspeed at which we can switch to fw mode + * + * @min 1.0 + * @max 20 + * @group VTOL Attitude Control + */ +PARAM_DEFINE_FLOAT(VT_ARSP_TRANS, 10.0f); diff --git a/src/modules/vtol_att_control/vtol_type.h b/src/modules/vtol_att_control/vtol_type.h index bbe6a8642e..a7fdbdde1a 100644 --- a/src/modules/vtol_att_control/vtol_type.h +++ b/src/modules/vtol_att_control/vtol_type.h @@ -38,8 +38,8 @@ * */ -#ifndef VTOL_YYPE_H -#define VTOL_YYPE_H +#ifndef VTOL_TYPE_H +#define VTOL_TYPE_H struct Params { int idle_pwm_mc; // pwm value for idle in mc mode