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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+6 -15
View File
@@ -45,8 +45,7 @@
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
VtolType(attc),
_tilt_control(0.0f)
VtolType(attc)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.transition_start = 0;
@@ -61,8 +60,6 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
}
void
@@ -85,16 +82,10 @@ Tiltrotor::parameters_update()
/* vtol front transition phase 2 duration */
param_get(_params_handles_tiltrotor.front_trans_dur_p2, &v);
_params_tiltrotor.front_trans_dur_p2 = v;
param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
param_get(_params_handles_tiltrotor.diff_thrust_scale, &v);
_params_tiltrotor.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
}
void Tiltrotor::update_vtol_state()
{
/* simple logic using a two way switch to perform transitions.
* after flipping the switch the vehicle will start tilting rotors, picking up
* forward speed. After the vehicle has picked up enough speed the rotors are tilted
@@ -270,7 +261,7 @@ void Tiltrotor::update_transition_state()
_mc_yaw_weight = _mc_roll_weight;
}
_thrust_transition = _mc_virtual_att_sp->thrust;
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
@@ -289,7 +280,7 @@ void Tiltrotor::update_transition_state()
_motor_state = set_motor_state(_motor_state, VALUE, rear_value);
_thrust_transition = _mc_virtual_att_sp->thrust;
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
if (_motor_state != ENABLED) {
@@ -335,7 +326,7 @@ void Tiltrotor::update_transition_state()
void Tiltrotor::waiting_on_tecs()
{
// keep multicopter thrust until we get data from TECS
_v_att_sp->thrust = _thrust_transition;
_v_att_sp->thrust_body[0] = _thrust_transition;
}
/**
@@ -358,9 +349,9 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_params_tiltrotor.diff_thrust == 1) {
if (_params->diff_thrust == 1) {
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params_tiltrotor.diff_thrust_scale;
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
}
} else {