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FixedwingRateControl: rework VTOL differential thrust saturation

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Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Matthias Grob
2023-06-19 10:59:20 +02:00
committed by Silvan Fuhrer
co-authored by Silvan Fuhrer
parent 53b9e66c66
commit 69aebe650b
2 changed files with 39 additions and 16 deletions
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src/modules/fw_rate_control/FixedwingRateControl.hpp
+9 -1
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@@ -144,6 +144,13 @@ private:
bool _in_fw_or_transition_wo_tailsitter_transition{false}; // only run the FW attitude controller in these states
// enum for bitmask of VT_FW_DIFTHR_EN parameter options
enum class VTOLFixedWingDifferentialThrustEnabledBit : int32_t {
YAW_BIT = (1 << 0),
ROLL_BIT = (1 << 1),
PITCH_BIT = (1 << 2),
};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
@@ -194,7 +201,8 @@ private:
(ParamFloat<px4::params::TRIM_ROLL>) _param_trim_roll,
(ParamFloat<px4::params::TRIM_YAW>) _param_trim_yaw,
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en
)
RateControl _rate_control; ///< class for rate control calculations