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temporarily use indicated airspeed for transitions so we're consistent with tecs until we move tecs to true airspeed

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This commit is contained in:
Andreas Antener
2016-02-18 18:55:56 +01:00
committed by Lorenz Meier
parent 228a54fd51
commit 6eb2e62306
3 changed files with 11 additions and 11 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -164,7 +164,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
if (_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;
@@ -212,8 +212,8 @@ void Standard::update_transition_state()
}
// do blending of mc and fw controls if a blending airspeed has been provided
if (_airspeed_trans_blend_margin > 0.0f && _airspeed->true_airspeed_m_s >= _params_standard.airspeed_blend) {
float weight = 1.0f - fabsf(_airspeed->true_airspeed_m_s - _params_standard.airspeed_blend) /
if (_airspeed_trans_blend_margin > 0.0f && _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_blend) {
float weight = 1.0f - fabsf(_airspeed->indicated_airspeed_m_s - _params_standard.airspeed_blend) /
_airspeed_trans_blend_margin;
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
src/modules/vtol_att_control/tailsitter.cpp
+5 -5
View File
@@ -179,7 +179,7 @@ void Tailsitter::update_vtol_state()
case TRANSITION_FRONT_P1:
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans
if ((_airspeed->indicated_airspeed_m_s >= _params_tailsitter.airspeed_trans
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
@@ -248,7 +248,7 @@ void Tailsitter::update_transition_state()
_pitch_transition_start);
/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */
if (_airspeed->true_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
if (_airspeed->indicated_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start ,
@@ -257,7 +257,7 @@ void Tailsitter::update_transition_state()
}
// disable mc yaw control once the plane has picked up speed
if (_airspeed->true_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
} else {
@@ -361,7 +361,7 @@ void Tailsitter::waiting_on_tecs()
void Tailsitter::calc_tot_airspeed()
{
float airspeed = math::max(1.0f, _airspeed->true_airspeed_m_s); // prevent numerical drama
float airspeed = math::max(1.0f, _airspeed->indicated_airspeed_m_s); // prevent numerical drama
// calculate momentary power of one engine
float P = _batt_status->voltage_filtered_v * _batt_status->current_a / _params->vtol_motor_count;
P = math::constrain(P, 1.0f, _params->power_max);
@@ -384,7 +384,7 @@ void Tailsitter::scale_mc_output()
calc_tot_airspeed(); // estimate air velocity seen by elevons
// if airspeed is not updating, we assume the normal average speed
if (bool nonfinite = !PX4_ISFINITE(_airspeed->true_airspeed_m_s) ||
if (bool nonfinite = !PX4_ISFINITE(_airspeed->indicated_airspeed_m_s) ||
hrt_elapsed_time(&_airspeed->timestamp) > 1e6) {
airspeed = _params->mc_airspeed_trim;
src/modules/vtol_att_control/tiltrotor.cpp
+3 -3
View File
@@ -208,7 +208,7 @@ void Tiltrotor::update_vtol_state()
// check if we have reached airspeed to switch to fw mode
// also allow switch if we are not armed for the sake of bench testing
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_trans || !_armed->armed) {
_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
_vtol_schedule.transition_start = hrt_absolute_time();
}
@@ -309,7 +309,7 @@ void Tiltrotor::update_transition_state()
}
// do blending of mc and fw controls
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
if (_airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 0.0f;
} else {
@@ -320,7 +320,7 @@ void Tiltrotor::update_transition_state()
// disable mc yaw control once the plane has picked up speed
_mc_yaw_weight = 1.0f;
if (_airspeed->true_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
}