fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 04:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

tailsitter: represent time since transition in seconds

Browse Source 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent bf22f02567
commit ae2e6c7a18
1 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tailsitter.cpp
+6 -6
View File
@@ -175,7 +175,7 @@ void Tailsitter::update_vtol_state()
void Tailsitter::update_transition_state()
{
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start);
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
if (!_flag_was_in_trans_mode) {
// save desired heading for transition and last thrust value
@@ -190,8 +190,8 @@ void Tailsitter::update_transition_state()
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
// create time dependant pitch angle set point + 0.2 rad overlap over the switch value
_v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) *
time_since_trans_start / (_params->front_trans_duration * 1e6f));
_v_att_sp->pitch_body = _pitch_transition_start - fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) *
time_since_trans_start / _params->front_trans_duration;
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
_pitch_transition_start);
@@ -217,7 +217,7 @@ void Tailsitter::update_transition_state()
// create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f) *
time_since_trans_start / (_params->back_trans_duration * 1e6f);
time_since_trans_start / _params->back_trans_duration;
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);
@@ -227,8 +227,8 @@ void Tailsitter::update_transition_state()
_mc_yaw_weight = 0.0f;
// smoothly move control weight to MC
_mc_roll_weight = 1.0f * time_since_trans_start / (_params->back_trans_duration * 1e6f);
_mc_pitch_weight = 1.0f * time_since_trans_start / (_params->back_trans_duration * 1e6f);
_mc_roll_weight = 1.0f * time_since_trans_start / _params->back_trans_duration;
_mc_pitch_weight = 1.0f * time_since_trans_start / _params->back_trans_duration;
}