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ActuatorEffectivenessTiltrotorVTOL: refactor

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put everything related to tiltrotor extra controls into own function to
clean up updateSetpoint
This commit is contained in:
Balduin
2025-02-20 09:11:35 +01:00
parent 009c300216
commit 9654ac6b20
2 changed files with 84 additions and 71 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+79 -71
View File
@@ -131,105 +131,113 @@ void ActuatorEffectivenessTiltrotorVTOL::setBypassTiltrotorControls(bool bypass,
_collective_thrust_normalized_setpoint = collective_thrust;
}
void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
void ActuatorEffectivenessTiltrotorVTOL::processTiltrotorControls(ActuatorVector &actuator_sp,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
// apply tilt
// if preflight_check_running, we alter the behaviour in these two ways:
{
// if _bypass_tiltrotor_controls (used for control surface preflight
// check), we alter the behaviour in these two ways:
// - collective tilt and thrust setpoints are NOT taken from uOrb
// message, but from class member variable, which we can arbitrarily set
// before calling this function
// before calling this function using setBypassTiltrotorControls
// - collective tilt is added to actuator_sp even if
// (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT)
// evaluates to false
if (matrix_index == 0) {
tiltrotor_extra_controls_s tiltrotor_extra_controls;
tiltrotor_extra_controls_s tiltrotor_extra_controls;
if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls) || _bypass_tiltrotor_controls) {
if (_tiltrotor_extra_controls_sub.copy(&tiltrotor_extra_controls) || _bypass_tiltrotor_controls) {
float control_collective_tilt = tiltrotor_extra_controls.collective_tilt_normalized_setpoint * 2.f - 1.f;
float control_collective_thrust = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
float control_collective_tilt = tiltrotor_extra_controls.collective_tilt_normalized_setpoint * 2.f - 1.f;
float control_collective_thrust = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
if (_bypass_tiltrotor_controls) {
control_collective_tilt = _collective_tilt_normalized_setpoint * 2.f - 1.f;
control_collective_thrust = _collective_thrust_normalized_setpoint;
}
if (_bypass_tiltrotor_controls) {
control_collective_tilt = _collective_tilt_normalized_setpoint * 2.f - 1.f;
control_collective_thrust = _collective_thrust_normalized_setpoint;
}
// set control_collective_tilt to exactly -1 or 1 if close to these end points
control_collective_tilt = control_collective_tilt < -0.99f ? -1.f : control_collective_tilt;
control_collective_tilt = control_collective_tilt > 0.99f ? 1.f : control_collective_tilt;
// set control_collective_tilt to exactly -1 or 1 if close to these end points
control_collective_tilt = control_collective_tilt < -0.99f ? -1.f : control_collective_tilt;
control_collective_tilt = control_collective_tilt > 0.99f ? 1.f : control_collective_tilt;
// initialize _last_collective_tilt_control
if (!PX4_ISFINITE(_last_collective_tilt_control)) {
_last_collective_tilt_control = control_collective_tilt;
// initialize _last_collective_tilt_control
if (!PX4_ISFINITE(_last_collective_tilt_control)) {
_last_collective_tilt_control = control_collective_tilt;
} else if (fabsf(control_collective_tilt - _last_collective_tilt_control) > 0.01f) {
_collective_tilt_updated = true;
_last_collective_tilt_control = control_collective_tilt;
}
} else if (fabsf(control_collective_tilt - _last_collective_tilt_control) > 0.01f) {
_collective_tilt_updated = true;
_last_collective_tilt_control = control_collective_tilt;
}
// During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness
// of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max.
// Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
// a thrust spike when the transition is initiated (as then the tilt is fully forward).
if (_flight_phase == FlightPhase::TRANSITION_HF_TO_FF) {
_last_collective_tilt_control = math::constrain(_last_collective_tilt_control, -1.f, 0.f);
// During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness
// of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max.
// Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
// a thrust spike when the transition is initiated (as then the tilt is fully forward).
if (_flight_phase == FlightPhase::TRANSITION_HF_TO_FF) {
_last_collective_tilt_control = math::constrain(_last_collective_tilt_control, -1.f, 0.f);
} else if (_flight_phase == FlightPhase::TRANSITION_FF_TO_HF) {
_last_collective_tilt_control = -1.f;
}
} else if (_flight_phase == FlightPhase::TRANSITION_FF_TO_HF) {
_last_collective_tilt_control = -1.f;
}
bool yaw_saturated_positive = true;
bool yaw_saturated_negative = true;
bool yaw_saturated_positive = true;
bool yaw_saturated_negative = true;
for (int i = 0; i < _tilts.count(); ++i) {
if (_tilts.config(i).tilt_direction == ActuatorEffectivenessTilts::TiltDirection::TowardsFront) {
for (int i = 0; i < _tilts.count(); ++i) {
if (_tilts.config(i).tilt_direction == ActuatorEffectivenessTilts::TiltDirection::TowardsFront) {
// as long as throttle spoolup is not completed, leave the tilts in the disarmed position (in hover)
if (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT || _bypass_tiltrotor_controls) {
actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
// as long as throttle spoolup is not completed, leave the tilts in the disarmed position (in hover)
if (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT || _bypass_tiltrotor_controls) {
actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
} else {
actuator_sp(i + _first_tilt_idx) = NAN; // NaN sets tilts to disarmed position
}
}
// custom yaw saturation logic: only declare yaw saturated if all tilts are at the negative or positive yawing limit
if (_tilts.getYawTorqueOfTilt(i) > FLT_EPSILON) {
if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
yaw_saturated_positive = false;
}
if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
yaw_saturated_negative = false;
}
} else if (_tilts.getYawTorqueOfTilt(i) < -FLT_EPSILON) {
if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
yaw_saturated_negative = false;
}
if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
yaw_saturated_positive = false;
}
} else {
actuator_sp(i + _first_tilt_idx) = NAN; // NaN sets tilts to disarmed position
}
}
_yaw_tilt_saturation_flags.tilt_yaw_neg = yaw_saturated_negative;
_yaw_tilt_saturation_flags.tilt_yaw_pos = yaw_saturated_positive;
// custom yaw saturation logic: only declare yaw saturated if all tilts are at the negative or positive yawing limit
if (_tilts.getYawTorqueOfTilt(i) > FLT_EPSILON) {
// in FW directly use throttle sp
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
for (int i = 0; i < _first_tilt_idx; ++i) {
actuator_sp(i) = control_collective_thrust;
if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
yaw_saturated_positive = false;
}
if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
yaw_saturated_negative = false;
}
} else if (_tilts.getYawTorqueOfTilt(i) < -FLT_EPSILON) {
if (yaw_saturated_negative && actuator_sp(i + _first_tilt_idx) < actuator_max(i + _first_tilt_idx) - FLT_EPSILON) {
yaw_saturated_negative = false;
}
if (yaw_saturated_positive && actuator_sp(i + _first_tilt_idx) > actuator_min(i + _first_tilt_idx) + FLT_EPSILON) {
yaw_saturated_positive = false;
}
}
}
_yaw_tilt_saturation_flags.tilt_yaw_neg = yaw_saturated_negative;
_yaw_tilt_saturation_flags.tilt_yaw_pos = yaw_saturated_positive;
// in FW directly use throttle sp
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
for (int i = 0; i < _first_tilt_idx; ++i) {
actuator_sp(i) = control_collective_thrust;
}
}
}
}
void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
if (matrix_index == 0) {
processTiltrotorControls(actuator_sp, actuator_min, actuator_max);
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
stopMaskedMotorsWithZeroThrust(_motors & ~_untiltable_motors, actuator_sp);
}
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
+5
View File
@@ -90,6 +90,11 @@ public:
void setBypassTiltrotorControls(bool bypass, float collective_tilt, float collective_thrust) override;
void processTiltrotorControls(ActuatorVector &actuator_sp,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max);
protected:
bool _collective_tilt_updated{true};
ActuatorEffectivenessRotors _mc_rotors;