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fixed code style

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Roman
2015-11-25 13:28:23 +01:00
committed by tumbili
parent 0a0a074194
commit 7127f6a92f
7 changed files with 250 additions and 195 deletions
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src/modules/vtol_att_control/standard.cpp
+1 -1
View File
@@ -254,7 +254,7 @@ void Standard::update_fw_state()
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
if (!_flag_enable_mc_motors) {
set_max_mc(950);
set_idle_fw(); // force them to stop, not just idle
src/modules/vtol_att_control/tailsitter.cpp
+214 -166
View File
@@ -31,33 +31,33 @@
*
****************************************************************************/
/**
* @file tailsitter.cpp
*
* @author Roman Bapst <bapstroman@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
*
*/
/**
* @file tailsitter.cpp
*
* @author Roman Bapst <bapstroman@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
*
*/
#include "tailsitter.h"
#include "vtol_att_control_main.h"
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2
#define PITCH_TRANSITION_FRONT_P2 -1.2f // pitch angle to switch to FW
#define PITCH_TRANSITION_BACK -0.25f // pitch angle to switch to MC
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2
#define PITCH_TRANSITION_FRONT_P2 -1.2f // pitch angle to switch to FW
#define PITCH_TRANSITION_BACK -0.25f // pitch angle to switch to MC
Tailsitter::Tailsitter (VtolAttitudeControl *attc) :
VtolType(attc),
_airspeed_tot(0.0f),
_roll_weight_mc(1.0f),
_pitch_weight_mc(1.0f),
_yaw_weight_mc(1.0f),
_min_front_trans_dur(0.5f),
Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
VtolType(attc),
_airspeed_tot(0.0f),
_roll_weight_mc(1.0f),
_pitch_weight_mc(1.0f),
_yaw_weight_mc(1.0f),
_min_front_trans_dur(0.5f),
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.transition_start = 0;
@@ -74,7 +74,7 @@ _nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinit
_params_handles_tailsitter.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_tailsitter.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tailsitter.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
}
Tailsitter::~Tailsitter()
@@ -90,7 +90,7 @@ Tailsitter::parameters_update()
/* vtol duration of a front transition */
param_get(_params_handles_tailsitter.front_trans_dur, &v);
_params_tailsitter.front_trans_dur = math::constrain(v,1.0f,5.0f);
_params_tailsitter.front_trans_dur = math::constrain(v, 1.0f, 5.0f);
/* vtol front transition phase 2 duration */
param_get(_params_handles_tailsitter.front_trans_dur_p2, &v);
@@ -98,7 +98,7 @@ Tailsitter::parameters_update()
/* vtol duration of a back transition */
param_get(_params_handles_tailsitter.back_trans_dur, &v);
_params_tailsitter.back_trans_dur = math::constrain(v,0.0f,5.0f);
_params_tailsitter.back_trans_dur = math::constrain(v, 0.0f, 5.0f);
/* vtol airspeed at which it is ok to switch to fw mode */
param_get(_params_handles_tailsitter.airspeed_trans, &v);
@@ -115,7 +115,7 @@ Tailsitter::parameters_update()
/* avoid parameters which will lead to zero division in the transition code */
_params_tailsitter.front_trans_dur = math::max(_params_tailsitter.front_trans_dur, _min_front_trans_dur);
if ( _params_tailsitter.airspeed_trans < _params_tailsitter.airspeed_blend_start + 1.0f ) {
if (_params_tailsitter.airspeed_trans < _params_tailsitter.airspeed_blend_start + 1.0f) {
_params_tailsitter.airspeed_trans = _params_tailsitter.airspeed_blend_start + 1.0f;
}
@@ -124,97 +124,115 @@ Tailsitter::parameters_update()
void Tailsitter::update_vtol_state()
{
parameters_update();
parameters_update();
/* simple logic using a two way switch to perform transitions.
/* simple logic using a two way switch to perform transitions.
* after flipping the switch the vehicle will start tilting in MC control mode, picking up
* forward speed. After the vehicle has picked up enough and sufficient pitch angle the uav will go into FW mode.
* For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
*/
*/
if (_manual_control_sp->aux1 < 0.0f) {
if (_manual_control_sp->aux1 < 0.0f) {
switch(_vtol_schedule.flight_mode) { // user switchig to MC mode
case MC_MODE:
break;
case FW_MODE:
_vtol_schedule.flight_mode = TRANSITION_BACK;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
case TRANSITION_FRONT_P1:
// failsafe into multicopter mode
switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
case MC_MODE:
break;
case FW_MODE:
_vtol_schedule.flight_mode = TRANSITION_BACK;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
case TRANSITION_FRONT_P1:
// failsafe into multicopter mode
_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_FRONT_P2:
// NOT USED
// failsafe into multicopter mode
//_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_BACK:
// check if we have reached pitch angle to switch to MC mode
if (_v_att->pitch >= PITCH_TRANSITION_BACK) {
_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_FRONT_P2:
// NOT USED
// failsafe into multicopter mode
//_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_BACK:
// check if we have reached pitch angle to switch to MC mode
if (_v_att->pitch >= PITCH_TRANSITION_BACK) {
_vtol_schedule.flight_mode = MC_MODE;
}
break;
}
break;
}
} else { // user switchig to FW mode
switch(_vtol_schedule.flight_mode) {
case MC_MODE:
// initialise a front transition
_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
case FW_MODE:
break;
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) && (_v_att->pitch <= PITCH_TRANSITION_FRONT_P1)) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
}
break;
case TRANSITION_FRONT_P2:
// NOT USED
// check if we have reached pitch angle to switch to FW mode
//if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
// _vtol_schedule.flight_mode = FW_MODE;
//}
break;
case TRANSITION_BACK:
// failsafe into fixed wing mode
_vtol_schedule.flight_mode = FW_MODE;
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
// initialise a front transition
_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
/* **LATER*** if pitch is closer to mc (-45>)
* go to transition P1
*/
break;
case FW_MODE:
break;
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)
&& (_v_att->pitch <= PITCH_TRANSITION_FRONT_P1)) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
}
break;
case TRANSITION_FRONT_P2:
// NOT USED
// check if we have reached pitch angle to switch to FW mode
//if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
// _vtol_schedule.flight_mode = FW_MODE;
//}
break;
case TRANSITION_BACK:
// failsafe into fixed wing mode
_vtol_schedule.flight_mode = FW_MODE;
/* **LATER*** if pitch is closer to mc (-45>)
* go to transition P1
*/
break;
}
}
// map tailsitter specific control phases to simple control modes
switch(_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;
case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;
case TRANSITION_FRONT_P1:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
case TRANSITION_FRONT_P2:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
case TRANSITION_BACK:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;
case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;
case TRANSITION_FRONT_P1:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
case TRANSITION_FRONT_P2:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
case TRANSITION_BACK:
_vtol_mode = TRANSITION;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
}
}
@@ -223,7 +241,7 @@ void Tailsitter::update_vtol_state()
void Tailsitter::update_mc_state()
{
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
}
@@ -264,19 +282,24 @@ void Tailsitter::update_transition_state()
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 -_pitch_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.front_trans_dur * 1000000.0f));
_v_att_sp->pitch_body =math::constrain( _v_att_sp->pitch_body , PITCH_TRANSITION_FRONT_P1-0.2f , _pitch_transition_start );
_v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , PITCH_TRANSITION_FRONT_P1 - 0.2f ,
_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) {
_v_att_sp->thrust = _throttle_transition + (fabsf(THROTTLE_TRANSITION_MAX * _throttle_transition) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.front_trans_dur * 1000000.0f));
_v_att_sp->thrust = math::constrain(_v_att_sp->thrust , _throttle_transition , (1.0f + THROTTLE_TRANSITION_MAX) * _throttle_transition);
_v_att_sp->thrust = _throttle_transition + (fabsf(THROTTLE_TRANSITION_MAX * _throttle_transition) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_v_att_sp->thrust = math::constrain(_v_att_sp->thrust , _throttle_transition ,
(1.0f + THROTTLE_TRANSITION_MAX) * _throttle_transition);
}
// disable mc yaw control once the plane has picked up speed
if (_airspeed->true_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
}else {
} else {
_mc_yaw_weight = 1.0f;
}
@@ -294,27 +317,29 @@ void Tailsitter::update_transition_state()
}
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P2-0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P1 -
(fabsf(PITCH_TRANSITION_FRONT_P2 - PITCH_TRANSITION_FRONT_P1) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_FRONT_P2-0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P2-0.2f;
if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P2 - 0.2f)) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P1 -
(fabsf(PITCH_TRANSITION_FRONT_P2 - PITCH_TRANSITION_FRONT_P1) * (float)hrt_elapsed_time(
&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_FRONT_P2 - 0.2f)) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P2 - 0.2f;
}
}
/** start blending MC and FW controls from pitch -45 to pitch -70 for smooth control takeover*/
//_mc_roll_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
//_mc_pitch_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
@@ -323,20 +348,23 @@ void Tailsitter::update_transition_state()
flag_idle_mc = true;
}
/** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f ) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK+0.2f);
/** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK + 0.2f);
// throttle value is decreesed
_v_att_sp->thrust = _throttle_transition*0.9f;
_v_att_sp->thrust = _throttle_transition * 0.9f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
/** smoothly move control weight to MC */
_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_tailsitter.back_trans_dur * 1000000.0f);
_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_tailsitter.back_trans_dur * 1000000.0f);
}
@@ -353,8 +381,8 @@ void Tailsitter::update_transition_state()
_v_att_sp->yaw_body = _yaw_transition;
_v_att_sp->R_valid = true;
math::Matrix<3,3> R_sp;
R_sp.from_euler(_v_att_sp->roll_body,_v_att_sp->pitch_body,_v_att_sp->yaw_body);
math::Matrix<3, 3> R_sp;
R_sp.from_euler(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body);
memcpy(&_v_att_sp->R_body[0], R_sp.data, sizeof(_v_att_sp->R_body));
math::Quaternion q_sp;
@@ -425,49 +453,69 @@ void Tailsitter::scale_mc_output()
*/
void Tailsitter::fill_actuator_outputs()
{
switch(_vtol_mode) {
case ROTARY_WING:
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW];
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
switch (_vtol_mode) {
case ROTARY_WING:
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW];
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
} else {
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =0; //pitch elevon
}
break;
case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; // pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = _actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
break;
case TRANSITION:
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
} else {
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
// **LATER** + (_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
break;
case EXTERNAL:
// not yet implemented, we are switching brute force at the moment
break;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0; //pitch elevon
}
break;
case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; // pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
break;
case TRANSITION:
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
// **LATER** + (_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
break;
case EXTERNAL:
// not yet implemented, we are switching brute force at the moment
break;
}
}
src/modules/vtol_att_control/tailsitter.h
+9 -9
View File
@@ -31,13 +31,13 @@
*
****************************************************************************/
/**
* @file tiltrotor.h
*
* @author Roman Bapst <bapstroman@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
*
*/
/**
* @file tiltrotor.h
*
* @author Roman Bapst <bapstroman@gmail.com>
* @author David Vorsin <davidvorsin@gmail.com>
*
*/
#ifndef TAILSITTER_H
#define TAILSITTER_H
@@ -114,7 +114,7 @@ private:
struct {
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
hrt_abstime transition_start; /**< absoulte time at which front transition started */
}_vtol_schedule;
} _vtol_schedule;
float _airspeed_tot; /** speed estimation for propwash controlled surfaces */
float _roll_weight_mc; /**< multicopter desired roll moment weight */
@@ -125,7 +125,7 @@ private:
float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
/** should this anouncement stay? **/
/** should this anouncement stay? **/
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
src/modules/vtol_att_control/tailsitter_params.c
+1 -1
View File
@@ -50,7 +50,7 @@
* @min 0.1
* @max 2
* @group VTOL Attitude Control
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);*/
src/modules/vtol_att_control/tiltrotor.cpp
+1
View File
@@ -306,6 +306,7 @@ void Tiltrotor::update_transition_state()
_throttle_transition = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
_flag_was_in_trans_mode = true;
}
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
// for the first part of the transition the rear rotors are enabled
if (_rear_motors != ENABLED) {
src/modules/vtol_att_control/vtol_att_control_main.cpp
+5
View File
@@ -512,6 +512,7 @@ void VtolAttitudeControl::publish_att_sp()
if (_v_att_sp_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_pub, &_v_att_sp);
} else {
/* advertise and publish */
_v_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp);
@@ -740,7 +741,11 @@ VtolAttitudeControl::start()
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 10,
2048,
<<<<<<< HEAD
(px4_main_t)&VtolAttitudeControl::task_main_trampoline,
=======
(main_t)&VtolAttitudeControl::task_main_trampoline,
>>>>>>> fixed code style
nullptr);
if (_control_task < 0) {
src/modules/vtol_att_control/vtol_att_control_main.h
+19 -18
View File
@@ -107,27 +107,28 @@ public:
int start(); /* start the task and return OK on success */
bool is_fixed_wing_requested();
struct vehicle_attitude_s *get_att() {return &_v_att;}
struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp () {return &_mc_virtual_att_sp;}
struct fw_virtual_attitude_setpoint_s *get_fw_virtual_att_sp () {return &_fw_virtual_att_sp;}
struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;}
struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
struct vtol_vehicle_status_s *get_vehicle_status() {return &_vtol_vehicle_status;}
struct actuator_controls_s *get_actuators_out0() {return &_actuators_out_0;}
struct actuator_controls_s *get_actuators_out1() {return &_actuators_out_1;}
struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
struct actuator_armed_s *get_armed() {return &_armed;}
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
struct airspeed_s *get_airspeed() {return &_airspeed;}
struct battery_status_s *get_batt_status() {return &_batt_status;}
struct vehicle_attitude_s *get_att() {return &_v_att;}
struct vehicle_attitude_setpoint_s *get_att_sp() {return &_v_att_sp;}
struct mc_virtual_attitude_setpoint_s *get_mc_virtual_att_sp() {return &_mc_virtual_att_sp;}
struct fw_virtual_attitude_setpoint_s *get_fw_virtual_att_sp() {return &_fw_virtual_att_sp;}
struct vehicle_rates_setpoint_s *get_rates_sp() {return &_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_mc_virtual_rates_sp() {return &_mc_virtual_v_rates_sp;}
struct vehicle_rates_setpoint_s *get_fw_virtual_rates_sp() {return &_fw_virtual_v_rates_sp;}
struct manual_control_setpoint_s *get_manual_control_sp() {return &_manual_control_sp;}
struct vehicle_control_mode_s *get_control_mode() {return &_v_control_mode;}
struct vtol_vehicle_status_s *get_vehicle_status() {return &_vtol_vehicle_status;}
struct actuator_controls_s *get_actuators_out0() {return &_actuators_out_0;}
struct actuator_controls_s *get_actuators_out1() {return &_actuators_out_1;}
struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
struct actuator_armed_s *get_armed() {return &_armed;}
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
struct airspeed_s *get_airspeed() {return &_airspeed;}
struct battery_status_s *get_batt_status() {return &_batt_status;}
struct Params *get_params() {return &_params;}
private:
//******************flags & handlers******************************************************
bool _task_should_exit;