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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/vtol_att_control_main.cpp
+6
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@@ -109,6 +109,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.land_pitch_min_rad = param_find("VT_LND_PTCH_MIN");
_params_handles.vt_spoiler_mc_ld = param_find("VT_SPOILER_MC_LD");
/* fetch initial parameter values */
parameters_update();
@@ -372,6 +373,8 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.mpc_land_alt1, &_params.mpc_land_alt1);
param_get(_params_handles.mpc_land_alt2, &_params.mpc_land_alt2);
param_get(_params_handles.vt_spoiler_mc_ld, &_params.vt_spoiler_mc_ld);
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {
_vtol_type->parameters_update();
@@ -401,6 +404,7 @@ VtolAttitudeControl::Run()
#endif // !ENABLE_LOCKSTEP_SCHEDULER
const float dt = math::min((now - _last_run_timestamp) / 1e6f, kMaxVTOLAttitudeControlTimeStep);
_last_run_timestamp = now;
if (!_initialized) {
@@ -415,6 +419,8 @@ VtolAttitudeControl::Run()
}
}
_vtol_type->setDt(dt);
perf_begin(_loop_perf);
const bool updated_fw_in = _actuator_inputs_fw.update(&_actuators_fw_in);