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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-01 23:54:07 +08:00
Move Quadchute from the VTOL module to Commander (failure detector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
parent
a803fa809b
commit
76ea472696
@ -77,6 +77,7 @@ bool is_vtol # True if the system is VTOL capable
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bool is_vtol_tailsitter # True if the system performs a 90° pitch down rotation during transition from MC to FW
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bool in_transition_mode # True if VTOL is doing a transition
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bool in_transition_to_fw # True if VTOL is doing a transition from MC to FW
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bool vtol_fw_actuation_failure # True if an issue with fixed-wing actuation was detected
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bool rc_signal_lost # true if RC reception lost
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@ -38,7 +38,6 @@ bool offboard_control_signal_lost
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bool rc_signal_found_once
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bool rc_calibration_in_progress
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bool rc_calibration_valid # set if RC calibration is valid
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bool vtol_transition_failure # Set to true if vtol transition failed
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bool usb_connected # status of the USB power supply
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bool sd_card_detected_once # set to true if the SD card was detected
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@ -8,5 +8,3 @@ uint8 VEHICLE_VTOL_STATE_FW = 4
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uint64 timestamp # time since system start (microseconds)
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uint8 vehicle_vtol_state # current state of the vtol, see VEHICLE_VTOL_STATE
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bool vtol_transition_failsafe # vtol in transition failsafe mode
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@ -2264,11 +2264,6 @@ Commander::run()
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_status_changed = true;
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}
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if (_status_flags.vtol_transition_failure != _vtol_status.vtol_transition_failsafe) {
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_status_flags.vtol_transition_failure = _vtol_status.vtol_transition_failsafe;
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_status_changed = true;
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}
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const bool should_soft_stop = (_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
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if (_armed.soft_stop != should_soft_stop) {
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@ -2773,7 +2768,32 @@ Commander::run()
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}
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}
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if (fd_status_flags.roll || fd_status_flags.pitch || fd_status_flags.alt || fd_status_flags.ext) {
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const bool flight_state_enable_quadchute = _status.is_vtol
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&& (_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || _status.in_transition_mode);
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if (flight_state_enable_quadchute && !_quadchute_triggered) {
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if (fd_status_flags.qc_roll || fd_status_flags.qc_pitch || fd_status_flags.qc_min_alt || fd_status_flags.qc_alt_err
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|| fd_status_flags.qc_trans_tmt) {
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_quadchute_triggered = true;
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mavlink_log_emergency(&_mavlink_log_pub, "Critical failure detected: Transition to hover\t");
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/* EVENT
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* @description
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* Critical failures include an exceeding tilt angle, altitude failure or an external failure trigger.
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*
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* <profile name="dev">
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* Quadchute can be disabled with the parameter <param>QC_enabled</param>.
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* </profile>
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*/
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events::send(events::ID("commander_fd_quadchute"), {events::Log::Emergency, events::LogInternal::Warning},
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"Critical failure detected: transition to hover");
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// send_quadchute_command();
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send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION, vehicle_status_s::VEHICLE_TYPE_ROTARY_WING,
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1.0f);
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_status.vtol_fw_actuation_failure = true;
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_status_changed = true
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}
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} else if (fd_status_flags.roll || fd_status_flags.pitch || fd_status_flags.alt || fd_status_flags.ext) {
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const bool is_right_after_takeoff = hrt_elapsed_time(&_status.takeoff_time) < (1_s * _param_com_lkdown_tko.get());
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if (is_right_after_takeoff && !_lockdown_triggered) {
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@ -4392,6 +4412,18 @@ void Commander::send_parachute_command()
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set_tune_override(tune_control_s::TUNE_ID_PARACHUTE_RELEASE);
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}
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// void Commander::send_quadchute_command()
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// {
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// uORB::Subscription vehicle_status_sub{ORB_ID(vehicle_status)};
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// vehicle_status_s vehicle_status{};
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// vehicle_status_sub.copy(&vehicle_status);
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// send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
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// (float)(vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING ?
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// vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW :
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// vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC), 0.0f);
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// }
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void Commander::checkWindAndWarn()
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{
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wind_s wind_estimate;
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@ -227,6 +227,7 @@ private:
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// Quadchute
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(ParamInt<px4::params::COM_QC_ACT>) _param_com_qc_act,
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(ParamBool<px4::params::COM_FW_PERM_STAB>) _param_com_fw_perm_stab,
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// Offboard
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@ -323,7 +324,7 @@ private:
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bool _flight_termination_triggered{false};
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bool _lockdown_triggered{false};
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bool _imbalanced_propeller_check_triggered{false};
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bool _quadchute_triggered{false};
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hrt_abstime _datalink_last_heartbeat_gcs{0};
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hrt_abstime _datalink_last_heartbeat_avoidance_system{0};
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -52,7 +52,7 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
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failure_detector_status_u status_prev = _status;
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if (vehicle_control_mode.flag_control_attitude_enabled) {
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updateAttitudeStatus();
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updateAttitudeStatus(vehicle_status);
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if (_param_fd_ext_ats_en.get()) {
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updateExternalAtsStatus();
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@ -73,10 +73,82 @@ bool FailureDetector::update(const vehicle_status_s &vehicle_status, const vehic
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updateImbalancedPropStatus();
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}
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if (vehicle_status.is_vtol) {
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updateMinHeightStatus(vehicle_status);
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updateAdaptiveQC(vehicle_status, vehicle_control_mode);
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updateTransitionTimeout();
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}
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return _status.value != status_prev.value;
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}
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void FailureDetector::updateAttitudeStatus()
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void FailureDetector::updateMinHeightStatus(const vehicle_status_s &vehicle_status)
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{
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vehicle_local_position_s vehicle_local_position;
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if (_vehicle_local_position_sub.update(&vehicle_local_position)) {
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if (vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
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&& _param_vt_fw_min_alt.get() > 0
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&& -(vehicle_local_position.z) < _param_vt_fw_min_alt.get()) {
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_status.flags.qc_min_alt = true;
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} else {
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_status.flags.qc_min_alt = false;
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}
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}
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}
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void FailureDetector::updateAdaptiveQC(const vehicle_status_s &vehicle_status,
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const vehicle_control_mode_s &vehicle_control_mode)
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{
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// adaptive quadchute, only enabled when TECS is running (so pure FW mode)
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if (_param_vt_fw_alt_err.get() > 0 && vehicle_control_mode.flag_control_climb_rate_enabled
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&& vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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tecs_status_s tecs_status;
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if (_tecs_status_sub.update(&tecs_status)) {
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// 1 second rolling average
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_ra_hrate = (49 * _ra_hrate + tecs_status.height_rate) / 50;
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_ra_hrate_sp = (49 * _ra_hrate_sp + tecs_status.height_rate_setpoint) / 50;
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// are we dropping while requesting significant ascend?
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if (((tecs_status.altitude_sp - tecs_status.altitude_filtered) > _param_vt_fw_alt_err.get()) &&
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(_ra_hrate < -1.0f) && (_ra_hrate_sp > 1.0f)) {
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_status.flags.qc_alt_err = true;
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}
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}
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} else {
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// reset the filtered height rate and heigh rate setpoint if TECS is not running
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_ra_hrate = 0.0f;
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_ra_hrate_sp = 0.0f;
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}
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}
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void FailureDetector::updateTransitionTimeout()
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{
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vtol_vehicle_status_s vtol_vehicle_status;
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_vtol_vehicle_status_sub.update(&vtol_vehicle_status);
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const bool transitioning_to_FW = vtol_vehicle_status.vehicle_vtol_state ==
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vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW;
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if (!_was_in_transition_FW_prev && transitioning_to_FW) {
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_transition_start_timestamp = hrt_absolute_time();
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_was_in_transition_FW_prev = true;
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}
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if (transitioning_to_FW && _param_vt_trans_timeout.get() > FLT_EPSILON) {
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if (hrt_elapsed_time(&_transition_start_timestamp) > _param_vt_trans_timeout.get() * 1_s) {
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// transition timeout occured, abort transition
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_status.flags.qc_trans_tmt = true;
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}
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}
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}
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void FailureDetector::updateAttitudeStatus(const vehicle_status_s &vehicle_status)
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{
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vehicle_attitude_s attitude;
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@ -105,6 +177,31 @@ void FailureDetector::updateAttitudeStatus()
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// Update status
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_status.flags.roll = _roll_failure_hysteresis.get_state();
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_status.flags.pitch = _pitch_failure_hysteresis.get_state();
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const bool enable_quadchte = vehicle_status.is_vtol
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&& vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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if (enable_quadchte) {
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// fixed-wing maximum roll angle
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if (_param_vt_fw_qc_r.get() > 0) {
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if (fabsf(roll) > fabsf(math::radians(_param_vt_fw_qc_r.get()))) {
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_status.flags.qc_roll = true;
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}
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}
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// fixed-wing maximum pitch angle
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if (_param_vt_fw_qc_p.get() > 0) {
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if (fabsf(pitch) > fabsf(math::radians(_param_vt_fw_qc_p.get()))) {
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_status.flags.qc_pitch = true;
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}
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}
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} else {
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// reset if not in transition or FW
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_status.flags.qc_roll = true;
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_status.flags.qc_pitch = true;
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}
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}
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}
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@ -1,7 +1,7 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -52,11 +52,15 @@
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/tecs_status.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_imu_status.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/pwm_input.h>
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@ -70,6 +74,11 @@ union failure_detector_status_u {
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uint16_t high_wind : 1;
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uint16_t battery : 1;
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uint16_t imbalanced_prop : 1;
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uint16_t qc_roll : 1;
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uint16_t qc_pitch : 1;
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uint16_t qc_min_alt : 1;
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uint16_t qc_alt_err : 1;
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uint16_t qc_trans_tmt : 1;
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} flags;
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uint16_t value {0};
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};
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@ -87,10 +96,13 @@ public:
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float getImbalancedPropMetric() const { return _imbalanced_prop_lpf.getState(); }
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private:
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void updateAttitudeStatus();
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void updateAttitudeStatus(const vehicle_status_s &vehicle_status);
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void updateExternalAtsStatus();
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void updateEscsStatus(const vehicle_status_s &vehicle_status);
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void updateImbalancedPropStatus();
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void updateMinHeightStatus(const vehicle_status_s &vehicle_status);
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void updateAdaptiveQC(const vehicle_status_s &vehicle_status, const vehicle_control_mode_s &vehicle_control_mode);
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void updateTransitionTimeout();
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failure_detector_status_u _status{};
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@ -110,6 +122,17 @@ private:
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uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
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uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint});
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uORB::Subscription _tecs_status_sub{ORB_ID(tecs_status)};
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uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
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float _ra_hrate{0.f};
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float _ra_hrate_sp{0.f};
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hrt_abstime _transition_start_timestamp{0};
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bool _was_in_transition_FW_prev{false};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
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(ParamInt<px4::params::FD_FAIL_R>) _param_fd_fail_r,
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@ -118,6 +141,12 @@ private:
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(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
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(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
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(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en,
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(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr
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(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr,
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(ParamInt<px4::params::VT_FW_MIN_ALT>) _param_vt_fw_min_alt,
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(ParamInt<px4::params::VT_FW_ALT_ERR>) _param_vt_fw_alt_err,
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(ParamInt<px4::params::VT_FW_QC_P>) _param_vt_fw_qc_p,
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(ParamInt<px4::params::VT_FW_QC_R>) _param_vt_fw_qc_r,
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(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout
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)
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};
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2018-2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -156,3 +156,63 @@ PARAM_DEFINE_INT32(FD_ESCS_EN, 1);
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* @group Failure Detector
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*/
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PARAM_DEFINE_INT32(FD_IMB_PROP_THR, 30);
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/**
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* QuadChute minimum height threshold
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*
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* If the current height (relative to takeoff point) drops below this value in fixed-wing mode, a "QuadChute" is triggered,
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* which immediately switches the vehicle to hover flight and executes the action defined in COM_QC_ACT.
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* Only enabled for VTOL vehicles.
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* Set to 0 to disable the check.
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*
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* @min 0
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* @max 500
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* @unit m
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* @increment 1
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* @group Failure Detector
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*/
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PARAM_DEFINE_INT32(VT_FW_MIN_ALT, 0);
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/**
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* QuadChute altitude error thershold
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*
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* If the current altitude is more than this amount below the setpoint, a "QuadChute" is triggered,
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* which immediately switches the vehicle to hover flight and executes the action defined in COM_QC_ACT.
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* Only enabled for VTOL vehicles.
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* Set to 0 to disable the check.
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*
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* @min 0
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* @max 200
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* @unit m
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* @increment 1
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* @group Failure Detector
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*/
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PARAM_DEFINE_INT32(VT_FW_ALT_ERR, 0);
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/**
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* QuadChute pitch threshold
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*
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* If the current pitch angle estimate is above this value, a "QuadChute" is triggered,
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* which immediately switches the vehicle to hover flight and executes the action defined in COM_QC_ACT.
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* Set to 0 to disable the check.
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*
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* @min 0
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* @max 180
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* @unit deg
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* @group Failure Detector
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*/
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PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
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/**
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* QuadChute roll threshold
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*
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* If the current roll angle estimate is above this value, a "QuadChute" is triggered,
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* which immediately switches the vehicle to hover flight and executes the action defined in COM_QC_ACT.
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* Set to 0 to disable the check.
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*
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* @min 0
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* @max 180
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* @unit deg
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* @group Failure Detector
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*/
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PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
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@ -592,7 +592,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
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} else if (status.engine_failure) {
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status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
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} else if (status_flags.vtol_transition_failure) {
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} else if (status.vtol_fw_actuation_failure) {
|
||||
|
||||
set_quadchute_nav_state(status, armed, status_flags, quadchute_act);
|
||||
|
||||
@ -646,7 +646,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
|
||||
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, true)) {
|
||||
// nothing to do - everything done in check_invalid_pos_nav_state
|
||||
|
||||
} else if (status_flags.vtol_transition_failure) {
|
||||
} else if (status.vtol_fw_actuation_failure) {
|
||||
|
||||
set_quadchute_nav_state(status, armed, status_flags, quadchute_act);
|
||||
|
||||
@ -762,7 +762,7 @@ bool set_nav_state(vehicle_status_s &status, actuator_armed_s &armed, commander_
|
||||
} else if (is_armed && check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, false, false)) {
|
||||
// nothing to do - everything done in check_invalid_pos_nav_state
|
||||
|
||||
} else if (status_flags.vtol_transition_failure) {
|
||||
} else if (status.vtol_fw_actuation_failure) {
|
||||
|
||||
set_quadchute_nav_state(status, armed, status_flags, quadchute_act);
|
||||
|
||||
|
||||
@ -80,17 +80,12 @@ void Standard::update_vtol_state()
|
||||
float mc_weight = _mc_roll_weight;
|
||||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
if (_attc->get_vehicle_status()->vtol_fw_actuation_failure) {
|
||||
// Failsafe event, engage mc motors immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_pusher_throttle = 0.0f;
|
||||
_reverse_output = 0.0f;
|
||||
|
||||
//reset failsafe when FW is no longer requested
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
_vtol_vehicle_status->vtol_transition_failsafe = false;
|
||||
}
|
||||
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
// the transition to fw mode switch is off
|
||||
@ -255,13 +250,6 @@ void Standard::update_transition_state()
|
||||
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
|
||||
|
||||
@ -75,15 +75,10 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
float pitch = Eulerf(Quatf(_v_att->q)).theta();
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
if (_attc->get_vehicle_status()->vtol_fw_actuation_failure) {
|
||||
// Failsafe event, switch to MC mode immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
|
||||
//reset failsafe when FW is no longer requested
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
_vtol_vehicle_status->vtol_transition_failsafe = false;
|
||||
}
|
||||
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
|
||||
@ -125,9 +120,6 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1: {
|
||||
|
||||
const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
|
||||
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
|
||||
&& !_param_fw_arsp_mode.get() ;
|
||||
|
||||
@ -148,14 +140,6 @@ void Tailsitter::update_vtol_state()
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
@ -241,14 +225,6 @@ void Tailsitter::update_transition_state()
|
||||
time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
|
||||
|
||||
const float trans_pitch_rate = M_PI_2_F / _param_vt_b_trans_dur.get() ;
|
||||
|
||||
@ -79,15 +79,10 @@ void Tiltrotor::update_vtol_state()
|
||||
* forward completely. For the backtransition the motors simply rotate back.
|
||||
*/
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
if (_attc->get_vehicle_status()->vtol_fw_actuation_failure) {
|
||||
// Failsafe event, switch to MC mode immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
|
||||
//reset failsafe when FW is no longer requested
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
_vtol_vehicle_status->vtol_transition_failsafe = false;
|
||||
}
|
||||
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
// plane is in multicopter mode
|
||||
@ -173,14 +168,6 @@ void Tiltrotor::update_vtol_state()
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
@ -132,8 +132,6 @@ void VtolAttitudeControl::vehicle_cmd_poll()
|
||||
|
||||
while (_vehicle_cmd_sub.update(&vehicle_command)) {
|
||||
if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION) {
|
||||
vehicle_status_s vehicle_status{};
|
||||
_vehicle_status_sub.copy(&vehicle_status);
|
||||
|
||||
uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
|
||||
|
||||
@ -141,10 +139,10 @@ void VtolAttitudeControl::vehicle_cmd_poll()
|
||||
|
||||
// deny transition from MC to FW in Takeoff, Land, RTL and Orbit
|
||||
if (transition_command_param1 == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
|
||||
(vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|
||||
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|
||||
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|
||||
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
|
||||
(_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF
|
||||
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|
||||
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
|
||||
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ORBIT)) {
|
||||
|
||||
result = vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
|
||||
|
||||
@ -168,58 +166,6 @@ void VtolAttitudeControl::vehicle_cmd_poll()
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
VtolAttitudeControl::quadchute(QuadchuteReason reason)
|
||||
{
|
||||
if (!_vtol_vehicle_status.vtol_transition_failsafe) {
|
||||
switch (reason) {
|
||||
case QuadchuteReason::TransitionTimeout:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: transition timeout\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_tout"), events::Log::Critical,
|
||||
"Quadchute triggered, due to transition timeout");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::ExternalCommand:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: external command\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_ext_cmd"), events::Log::Critical,
|
||||
"Quadchute triggered, due to external command");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::MinimumAltBreached:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: minimum altitude breached\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_min_alt"), events::Log::Critical,
|
||||
"Quadchute triggered, due to minimum altitude breach");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::LossOfAlt:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: loss of altitude\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_alt_loss"), events::Log::Critical,
|
||||
"Quadchute triggered, due to loss of altitude");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::LargeAltError:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: large altitude error\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_alt_err"), events::Log::Critical,
|
||||
"Quadchute triggered, due to large altitude error");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::MaximumPitchExceeded:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum pitch exceeded\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_max_pitch"), events::Log::Critical,
|
||||
"Quadchute triggered, due to maximum pitch angle exceeded");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::MaximumRollExceeded:
|
||||
mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum roll exceeded\t");
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_max_roll"), events::Log::Critical,
|
||||
"Quadchute triggered, due to maximum roll angle exceeded");
|
||||
break;
|
||||
}
|
||||
|
||||
_vtol_vehicle_status.vtol_transition_failsafe = true;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
VtolAttitudeControl::parameters_update()
|
||||
{
|
||||
@ -306,6 +252,7 @@ VtolAttitudeControl::Run()
|
||||
_airspeed_validated_sub.update(&_airspeed_validated);
|
||||
_tecs_status_sub.update(&_tecs_status);
|
||||
_land_detected_sub.update(&_land_detected);
|
||||
_vehicle_status_sub.update(&_vehicle_status);
|
||||
action_request_poll();
|
||||
vehicle_cmd_poll();
|
||||
|
||||
|
||||
@ -96,16 +96,6 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
|
||||
{
|
||||
public:
|
||||
|
||||
enum class QuadchuteReason {
|
||||
TransitionTimeout = 0,
|
||||
ExternalCommand,
|
||||
MinimumAltBreached,
|
||||
LossOfAlt,
|
||||
LargeAltError,
|
||||
MaximumPitchExceeded,
|
||||
MaximumRollExceeded,
|
||||
};
|
||||
|
||||
VtolAttitudeControl();
|
||||
~VtolAttitudeControl() override;
|
||||
|
||||
@ -121,10 +111,8 @@ public:
|
||||
bool init();
|
||||
|
||||
bool is_fixed_wing_requested() { return _transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW; };
|
||||
void quadchute(QuadchuteReason reason);
|
||||
int get_transition_command() {return _transition_command;}
|
||||
bool get_immediate_transition() {return _immediate_transition;}
|
||||
void reset_immediate_transition() {_immediate_transition = false;}
|
||||
|
||||
float getAirDensity() const { return _air_density; }
|
||||
|
||||
@ -144,6 +132,7 @@ public:
|
||||
struct vehicle_local_position_s *get_local_pos() {return &_local_pos;}
|
||||
struct vehicle_local_position_setpoint_s *get_local_pos_sp() {return &_local_pos_sp;}
|
||||
struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
|
||||
struct vehicle_status_s *get_vehicle_status() {return &_vehicle_status;}
|
||||
|
||||
struct vehicle_torque_setpoint_s *get_torque_setpoint_0() {return &_torque_setpoint_0;}
|
||||
struct vehicle_torque_setpoint_s *get_torque_setpoint_1() {return &_torque_setpoint_1;}
|
||||
@ -207,6 +196,7 @@ private:
|
||||
vehicle_local_position_s _local_pos{};
|
||||
vehicle_local_position_setpoint_s _local_pos_sp{};
|
||||
vtol_vehicle_status_s _vtol_vehicle_status{};
|
||||
vehicle_status_s _vehicle_status{};
|
||||
|
||||
float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // [kg/m^3]
|
||||
|
||||
|
||||
@ -207,50 +207,6 @@ PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
|
||||
|
||||
/**
|
||||
* QuadChute Altitude
|
||||
*
|
||||
* Minimum altitude for fixed wing flight, when in fixed wing the altitude drops below this altitude
|
||||
* the vehicle will transition back to MC mode and enter failsafe RTL
|
||||
* @min 0.0
|
||||
* @max 200.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_MIN_ALT, 0.0f);
|
||||
|
||||
/**
|
||||
* Adaptive QuadChute
|
||||
*
|
||||
* Maximum negative altitude error for fixed wing flight. If the altitude drops below this value below the altitude setpoint
|
||||
* the vehicle will transition back to MC mode and enter failsafe RTL.
|
||||
* @min 0.0
|
||||
* @max 200.0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_ALT_ERR, 0.0f);
|
||||
|
||||
/**
|
||||
* QuadChute Max Pitch
|
||||
*
|
||||
* Maximum pitch angle before QuadChute engages
|
||||
* Above this the vehicle will transition back to MC mode and enter failsafe RTL
|
||||
* @min 0
|
||||
* @max 180
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_P, 0);
|
||||
|
||||
/**
|
||||
* QuadChute Max Roll
|
||||
*
|
||||
* Maximum roll angle before QuadChute engages
|
||||
* Above this the vehicle will transition back to MC mode and enter failsafe RTL
|
||||
* @min 0
|
||||
* @max 180
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_QC_R, 0);
|
||||
|
||||
/**
|
||||
* Airspeed less front transition time (open loop)
|
||||
*
|
||||
|
||||
@ -75,6 +75,7 @@ VtolType::VtolType(VtolAttitudeControl *att_controller) :
|
||||
_airspeed_validated = _attc->get_airspeed();
|
||||
_tecs_status = _attc->get_tecs_status();
|
||||
_land_detected = _attc->get_land_detected();
|
||||
_vehicle_status = _attc->get_vehicle_status();
|
||||
|
||||
for (auto &pwm_max : _max_mc_pwm_values.values) {
|
||||
pwm_max = PWM_DEFAULT_MAX;
|
||||
@ -213,8 +214,6 @@ void VtolType::update_fw_state()
|
||||
blendThrottleAfterFrontTransition(progress);
|
||||
}
|
||||
}
|
||||
|
||||
check_quadchute_condition();
|
||||
}
|
||||
|
||||
void VtolType::update_transition_state()
|
||||
@ -224,10 +223,6 @@ void VtolType::update_transition_state()
|
||||
_transition_dt = math::constrain(_transition_dt, 0.0001f, 0.02f);
|
||||
_last_loop_ts = t_now;
|
||||
_throttle_blend_start_ts = t_now;
|
||||
|
||||
|
||||
|
||||
check_quadchute_condition();
|
||||
}
|
||||
|
||||
float VtolType::update_and_get_backtransition_pitch_sp()
|
||||
@ -266,80 +261,6 @@ bool VtolType::can_transition_on_ground()
|
||||
return !_v_control_mode->flag_armed || _land_detected->landed;
|
||||
}
|
||||
|
||||
void VtolType::check_quadchute_condition()
|
||||
{
|
||||
if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC && _attc->get_immediate_transition()
|
||||
&& !_quadchute_command_treated) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::ExternalCommand);
|
||||
_quadchute_command_treated = true;
|
||||
_attc->reset_immediate_transition();
|
||||
|
||||
} else {
|
||||
_quadchute_command_treated = false;
|
||||
}
|
||||
|
||||
if (!_tecs_running) {
|
||||
// reset the filtered height rate and heigh rate setpoint if TECS is not running
|
||||
_ra_hrate = 0.0f;
|
||||
_ra_hrate_sp = 0.0f;
|
||||
}
|
||||
|
||||
if (_v_control_mode->flag_armed && !_land_detected->landed) {
|
||||
Eulerf euler = Quatf(_v_att->q);
|
||||
|
||||
// fixed-wing minimum altitude
|
||||
if (_param_vt_fw_min_alt.get() > FLT_EPSILON) {
|
||||
|
||||
if (-(_local_pos->z) < _param_vt_fw_min_alt.get()) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MinimumAltBreached);
|
||||
}
|
||||
}
|
||||
|
||||
// adaptive quadchute
|
||||
if (_param_vt_fw_alt_err.get() > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled) {
|
||||
|
||||
// We use tecs for tracking in FW and local_pos_sp during transitions
|
||||
if (_tecs_running) {
|
||||
// 1 second rolling average
|
||||
_ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
|
||||
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
|
||||
|
||||
// are we dropping while requesting significant ascend?
|
||||
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _param_vt_fw_alt_err.get()) &&
|
||||
(_ra_hrate < -1.0f) &&
|
||||
(_ra_hrate_sp > 1.0f)) {
|
||||
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::LossOfAlt);
|
||||
}
|
||||
|
||||
} else {
|
||||
const bool height_error = _local_pos->z_valid && ((-_local_pos_sp->z - -_local_pos->z) > _param_vt_fw_alt_err.get());
|
||||
const bool height_rate_error = _local_pos->v_z_valid && (_local_pos->vz > 1.0f) && (_local_pos->z_deriv > 1.0f);
|
||||
|
||||
if (height_error && height_rate_error) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::LargeAltError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// fixed-wing maximum pitch angle
|
||||
if (_param_vt_fw_qc_p.get() > 0) {
|
||||
|
||||
if (fabsf(euler.theta()) > fabsf(math::radians(_param_vt_fw_qc_p.get()))) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MaximumPitchExceeded);
|
||||
}
|
||||
}
|
||||
|
||||
// fixed-wing maximum roll angle
|
||||
if (_param_vt_fw_qc_r.get() > 0) {
|
||||
|
||||
if (fabsf(euler.phi()) > fabsf(math::radians(_param_vt_fw_qc_r.get()))) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MaximumRollExceeded);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool VtolType::set_idle_mc()
|
||||
{
|
||||
if (_param_sys_ctrl_alloc.get()) {
|
||||
@ -594,7 +515,7 @@ float VtolType::pusher_assist()
|
||||
}
|
||||
|
||||
// Do not engage pusher assist during a failsafe event (could be a problem with the fixed wing drive)
|
||||
if (_attc->get_vtol_vehicle_status()->vtol_transition_failsafe) {
|
||||
if (_attc->get_vehicle_status()->vtol_fw_actuation_failure) {
|
||||
return 0.0f;
|
||||
}
|
||||
|
||||
|
||||
@ -139,11 +139,6 @@ public:
|
||||
*/
|
||||
virtual void waiting_on_tecs() {}
|
||||
|
||||
/**
|
||||
* Checks for fixed-wing failsafe condition and issues abort request if needed.
|
||||
*/
|
||||
void check_quadchute_condition();
|
||||
|
||||
/**
|
||||
* Returns true if we're allowed to do a mode transition on the ground.
|
||||
*/
|
||||
@ -192,6 +187,7 @@ public:
|
||||
struct airspeed_validated_s *_airspeed_validated; // airspeed
|
||||
struct tecs_status_s *_tecs_status;
|
||||
struct vehicle_land_detected_s *_land_detected;
|
||||
struct vehicle_status_s *_vehicle_status;
|
||||
|
||||
struct vehicle_torque_setpoint_s *_torque_setpoint_0;
|
||||
struct vehicle_torque_setpoint_s *_torque_setpoint_1;
|
||||
@ -209,9 +205,6 @@ public:
|
||||
float _thrust_transition = 0.0f; // thrust value applied during a front transition (tailsitter & tiltrotor only)
|
||||
float _last_thr_in_fw_mode = 0.0f;
|
||||
|
||||
float _ra_hrate = 0.0f; // rolling average on height rate for quadchute condition
|
||||
float _ra_hrate_sp = 0.0f; // rolling average on height rate setpoint for quadchute condition
|
||||
|
||||
bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition
|
||||
|
||||
hrt_abstime _trans_finished_ts = 0;
|
||||
@ -227,9 +220,6 @@ public:
|
||||
|
||||
float _accel_to_pitch_integ = 0;
|
||||
|
||||
bool _quadchute_command_treated{false};
|
||||
|
||||
|
||||
/**
|
||||
* @brief Sets mc motor minimum pwm to VT_IDLE_PWM_MC which ensures
|
||||
* that they are spinning in mc mode.
|
||||
@ -256,10 +246,7 @@ public:
|
||||
|
||||
DEFINE_PARAMETERS_CUSTOM_PARENT(ModuleParams,
|
||||
(ParamBool<px4::params::VT_ELEV_MC_LOCK>) _param_vt_elev_mc_lock,
|
||||
(ParamFloat<px4::params::VT_FW_MIN_ALT>) _param_vt_fw_min_alt,
|
||||
(ParamFloat<px4::params::VT_FW_ALT_ERR>) _param_vt_fw_alt_err,
|
||||
(ParamInt<px4::params::VT_FW_QC_P>) _param_vt_fw_qc_p,
|
||||
(ParamInt<px4::params::VT_FW_QC_R>) _param_vt_fw_qc_r,
|
||||
|
||||
(ParamFloat<px4::params::VT_F_TR_OL_TM>) _param_vt_f_tr_ol_tm,
|
||||
(ParamFloat<px4::params::VT_TRANS_MIN_TM>) _param_vt_trans_min_tm,
|
||||
|
||||
@ -270,7 +257,6 @@ public:
|
||||
(ParamFloat<px4::params::VT_B_TRANS_THR>) _param_vt_b_trans_thr,
|
||||
(ParamFloat<px4::params::VT_ARSP_BLEND>) _param_vt_arsp_blend,
|
||||
(ParamBool<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
|
||||
(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout,
|
||||
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
|
||||
(ParamBool<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en,
|
||||
(ParamFloat<px4::params::VT_FW_DIFTHR_SC>) _param_vt_fw_difthr_sc,
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user