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VTOL: Don't overwrite attitude setpoint in Stabilized transition modes (#24406)

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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Pernilla
2025-02-25 20:06:16 +01:00
committed by GitHub
co-authored by Silvan Fuhrer
parent 7c63468e8b
commit 65a80dc8e6
2 changed files with 19 additions and 12 deletions
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src/modules/vtol_att_control/standard.cpp
+10 -6
View File
@@ -172,11 +172,6 @@ void Standard::update_transition_state()
VtolType::update_transition_state();
const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d));
float roll_body = attitude_setpoint_euler.phi();
float pitch_body = attitude_setpoint_euler.theta();
float yaw_body = attitude_setpoint_euler.psi();
// we get attitude setpoint from a multirotor flighttask if climbrate is controlled.
// in any other case the fixed wing attitude controller publishes attitude setpoint from manual stick input.
if (_v_control_mode->flag_control_climb_rate_enabled) {
@@ -186,7 +181,6 @@ void Standard::update_transition_state()
}
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi();
} else {
// we need a recent incoming (fw virtual) attitude setpoint, otherwise return (means the previous setpoint stays active)
@@ -198,6 +192,16 @@ void Standard::update_transition_state()
_v_att_sp->thrust_body[2] = -_fw_virtual_att_sp->thrust_body[0];
}
const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d));
float roll_body = attitude_setpoint_euler.phi();
float pitch_body = attitude_setpoint_euler.theta();
float yaw_body = attitude_setpoint_euler.psi();
if (_v_control_mode->flag_control_climb_rate_enabled) {
roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi();
}
if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
if (_param_vt_psher_slew.get() <= FLT_EPSILON) {
// just set the final target throttle value
src/modules/vtol_att_control/tiltrotor.cpp
+9 -6
View File
@@ -203,11 +203,6 @@ void Tiltrotor::update_transition_state()
const hrt_abstime now = hrt_absolute_time();
const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d));
float roll_body = attitude_setpoint_euler.phi();
float pitch_body = attitude_setpoint_euler.theta();
float yaw_body = attitude_setpoint_euler.psi();
// we get attitude setpoint from a multirotor flighttask if altitude is controlled.
// in any other case the fixed wing attitude controller publishes attitude setpoint from manual stick input.
if (_v_control_mode->flag_control_climb_rate_enabled) {
@@ -217,7 +212,6 @@ void Tiltrotor::update_transition_state()
}
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi();
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else {
@@ -231,6 +225,15 @@ void Tiltrotor::update_transition_state()
}
const Eulerf attitude_setpoint_euler(Quatf(_v_att_sp->q_d));
float roll_body = attitude_setpoint_euler.phi();
float pitch_body = attitude_setpoint_euler.theta();
float yaw_body = attitude_setpoint_euler.psi();
if (_v_control_mode->flag_control_climb_rate_enabled) {
roll_body = Eulerf(Quatf(_fw_virtual_att_sp->q_d)).phi();
}
if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition all rotors are enabled