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VTOL: add flap and spoiler support

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- including slew rate limiting
- adds option to set spoiler setting during the Land phase (hover)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-03 15:11:21 +02:00
parent 4b8f93de5c
commit 64ff31aa08
8 changed files with 83 additions and 9 deletions
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src/modules/vtol_att_control/standard.cpp
+11 -4
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@@ -288,6 +288,10 @@ void Standard::update_transition_state()
}
}
// set spoiler and flaps to 0
_flaps_setpoint_with_slewrate.update(0.f, _dt);
_spoiler_setpoint_with_slewrate.update(0.f, _dt);
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
if (_v_control_mode->flag_control_climb_rate_enabled) {
@@ -370,8 +374,9 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_PITCH] = elevon_lock ? 0 : fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = 0;
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = 0;
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = 0;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = 0.f;
break;
@@ -391,7 +396,8 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW];
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = fw_in[actuator_controls_s::INDEX_FLAPS];
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = _reverse_output;
break;
@@ -409,7 +415,8 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_PITCH] = fw_in[actuator_controls_s::INDEX_PITCH];
fw_out[actuator_controls_s::INDEX_YAW] = fw_in[actuator_controls_s::INDEX_YAW];
fw_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
fw_out[actuator_controls_s::INDEX_FLAPS] = fw_in[actuator_controls_s::INDEX_FLAPS];
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = 0;
break;
}