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VTOL rate control architecture improvements (#10819)

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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-21 20:32:40 -05:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+10 -7
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@@ -95,6 +95,7 @@ private:
int _att_sub{-1}; /**< vehicle attitude */
int _att_sp_sub{-1}; /**< vehicle attitude setpoint */
int _rates_sp_sub{-1}; /**< vehicle rates setpoint */
int _battery_status_sub{-1}; /**< battery status subscription */
int _global_pos_sub{-1}; /**< global position subscription */
int _manual_sub{-1}; /**< notification of manual control updates */
@@ -109,7 +110,6 @@ private:
orb_advert_t _actuators_2_pub{nullptr}; /**< actuator control group 1 setpoint (Airframe) */
orb_advert_t _rate_ctrl_status_pub{nullptr}; /**< rate controller status publication */
orb_id_t _rates_sp_id{nullptr}; // pointer to correct rates setpoint uORB metadata structure
orb_id_t _actuators_id{nullptr}; // pointer to correct actuator controls0 uORB metadata structure
orb_id_t _attitude_setpoint_id{nullptr};
@@ -185,7 +185,7 @@ private:
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
float man_roll_max; /**< Max Roll in rad */
float man_roll_max; /**< Max Roll in rad */
float man_pitch_max; /**< Max Pitch in rad */
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
@@ -195,13 +195,14 @@ private:
float acro_max_y_rate_rad;
float acro_max_z_rate_rad;
float flaps_scale; /**< Scale factor for flaps */
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
float flaps_scale; /**< Scale factor for flaps */
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
float flaperon_scale; /**< Scale factor for flaperons */
float rattitude_thres;
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
int32_t vtol_airspeed_rule;
int32_t bat_scale_en; /**< Battery scaling enabled */
bool airspeed_disabled;
@@ -271,6 +272,7 @@ private:
param_t rattitude_thres;
param_t vtol_type;
param_t vtol_airspeed_rule;
param_t bat_scale_en;
param_t airspeed_mode;
@@ -291,9 +293,10 @@ private:
void vehicle_control_mode_poll();
void vehicle_manual_poll();
void vehicle_setpoint_poll();
void vehicle_attitude_setpoint_poll();
void vehicle_rates_setpoint_poll();
void global_pos_poll();
void vehicle_status_poll();
void vehicle_land_detected_poll();
void get_airspeed_and_scaling(float &airspeed, float &airspeed_scaling);
};