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vtol: reduce schedule frequency, which causes DSHOT150 problems

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* vtol: reduce schedule frequency, which causes DSHOT150 problems

* vtol_att_control_main: refactor callback handling

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Alexander Lerach
2025-04-17 18:31:57 +02:00
committed by GitHub
co-authored by Matthias Grob
parent 905b6ac0ba
commit 937998b739
2 changed files with 40 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/vtol_att_control_main.cpp
+34 -23
View File
@@ -94,26 +94,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
bool
VtolAttitudeControl::init()
{
if (!_vehicle_torque_setpoint_virtual_fw_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
if (!_vehicle_torque_setpoint_virtual_mc_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
if (!_vehicle_thrust_setpoint_virtual_fw_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
if (!_vehicle_thrust_setpoint_virtual_mc_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
ScheduleNow();
return true;
}
@@ -272,14 +253,38 @@ VtolAttitudeControl::parameters_update()
}
}
void
VtolAttitudeControl::update_callbacks()
{
mode current_vtol_mode = _vtol_type->get_mode();
switch (current_vtol_mode) {
case mode::TRANSITION_TO_FW:
case mode::TRANSITION_TO_MC:
case mode::ROTARY_WING:
if (_vehicle_torque_setpoint_virtual_mc_sub.registerCallback()) {
_vehicle_torque_setpoint_virtual_fw_sub.unregisterCallback();
}
break;
case mode::FIXED_WING:
if (_vehicle_torque_setpoint_virtual_fw_sub.registerCallback()) {
_vehicle_torque_setpoint_virtual_mc_sub.unregisterCallback();
}
break;
}
_previous_vtol_mode = current_vtol_mode;
}
void
VtolAttitudeControl::Run()
{
if (should_exit()) {
_vehicle_torque_setpoint_virtual_fw_sub.unregisterCallback();
_vehicle_torque_setpoint_virtual_mc_sub.unregisterCallback();
_vehicle_thrust_setpoint_virtual_fw_sub.unregisterCallback();
_vehicle_thrust_setpoint_virtual_mc_sub.unregisterCallback();
exit_and_cleanup();
return;
}
@@ -298,6 +303,7 @@ VtolAttitudeControl::Run()
if (!_initialized) {
if (_vtol_type->init()) {
update_callbacks();
_initialized = true;
} else {
@@ -315,8 +321,13 @@ VtolAttitudeControl::Run()
// run on actuator publications corresponding to VTOL mode
bool should_run = false;
mode current_vtol_mode = _vtol_type->get_mode();
switch (_vtol_type->get_mode()) {
if (current_vtol_mode != _previous_vtol_mode) {
update_callbacks();
}
switch (current_vtol_mode) {
case mode::TRANSITION_TO_FW:
case mode::TRANSITION_TO_MC:
should_run = updated_fw_in || updated_mc_in;
src/modules/vtol_att_control/vtol_att_control_main.h
+6 -2
View File
@@ -87,6 +87,7 @@
#include "standard.h"
#include "tailsitter.h"
#include "tiltrotor.h"
#include "vtol_type.h"
using namespace time_literals;
@@ -149,8 +150,8 @@ private:
void Run() override;
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_virtual_fw_sub{this, ORB_ID(vehicle_torque_setpoint_virtual_fw)};
uORB::SubscriptionCallbackWorkItem _vehicle_torque_setpoint_virtual_mc_sub{this, ORB_ID(vehicle_torque_setpoint_virtual_mc)};
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_virtual_fw_sub{this, ORB_ID(vehicle_thrust_setpoint_virtual_fw)};
uORB::SubscriptionCallbackWorkItem _vehicle_thrust_setpoint_virtual_mc_sub{this, ORB_ID(vehicle_thrust_setpoint_virtual_mc)};
uORB::Subscription _vehicle_thrust_setpoint_virtual_fw_sub{ORB_ID(vehicle_thrust_setpoint_virtual_fw)};
uORB::Subscription _vehicle_thrust_setpoint_virtual_mc_sub{ORB_ID(vehicle_thrust_setpoint_virtual_mc)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
@@ -223,6 +224,7 @@ private:
uint8_t _nav_state_prev;
VtolType *_vtol_type{nullptr}; // base class for different vtol types
mode _previous_vtol_mode;
bool _initialized{false};
@@ -236,6 +238,8 @@ private:
void parameters_update();
void update_callbacks();
DEFINE_PARAMETERS(
(ParamInt<px4::params::VT_TYPE>) _param_vt_type,
(ParamFloat<px4::params::VT_SPOILER_MC_LD>) _param_vt_spoiler_mc_ld