fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 06:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL: add flap and spoiler support

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+15 -3
View File
@@ -370,6 +370,10 @@ void Tiltrotor::update_transition_state()
// add minimum throttle for front transition
_thrust_transition = math::max(_thrust_transition, FRONTTRANS_THR_MIN);
// 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_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = math::constrain(_params_tiltrotor.tilt_transition +
@@ -392,6 +396,10 @@ void Tiltrotor::update_transition_state()
// if this is not then then there is race condition where the fw rate controller still publishes a zero sample throttle after transition
_v_att_sp->thrust_body[0] = _thrust_transition;
// 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_BACK) {
// set idle speed for rotary wing mode
@@ -534,9 +542,9 @@ void Tiltrotor::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_COLLECTIVE_TILT] = _tilt_control;
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
fw_out[actuator_controls_s::INDEX_YAW] = 0;
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
fw_out[actuator_controls_s::INDEX_YAW] = 0;
} else {
fw_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_ROLL];
@@ -547,6 +555,10 @@ void Tiltrotor::fill_actuator_outputs()
_torque_setpoint_1->xyz[2] = fw_in[actuator_controls_s::INDEX_YAW];
}
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;
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;