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Fix quadchute logic so that it also works during back transition

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This commit is contained in:
Thomas 2021-01-07 17:08:01 +01:00 committed by Roman Bapst
parent 420ceb76fc
commit b90fafd5cd
3 changed files with 19 additions and 32 deletions
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35
src/modules/vtol_att_control/standard.cpp
View File

@ -106,7 +106,19 @@ void Standard::update_vtol_state()
float mc_weight = _mc_roll_weight;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_attc->is_fixed_wing_requested()) {
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
//reset failsafe when FW is no longer requested
if (!_attc->is_fixed_wing_requested()) {
_vtol_vehicle_status->vtol_transition_failsafe = false;
}
} else if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
@ -117,21 +129,10 @@ void Standard::update_vtol_state()
_reverse_output = 0.0f;
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// transition to mc mode
if (_vtol_vehicle_status->vtol_transition_failsafe) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else {
// Regular backtransition
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
}
// Regular backtransition
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
@ -162,7 +163,7 @@ void Standard::update_vtol_state()
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// start transition to fw mode
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
* unsafe flying state. */
* unsafe flying state. */
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();

15
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@ -207,27 +207,14 @@ VtolAttitudeControl::is_fixed_wing_requested()
to_fw = (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
}
// handle abort request
if (_abort_front_transition) {
if (to_fw) {
to_fw = false;
} else {
// the state changed to mc mode, reset the abort request
_abort_front_transition = false;
_vtol_vehicle_status.vtol_transition_failsafe = false;
}
}
return to_fw;
}
void
VtolAttitudeControl::abort_front_transition(const char *reason)
{
if (!_abort_front_transition) {
if (!_vtol_vehicle_status.vtol_transition_failsafe) {
mavlink_log_critical(&_mavlink_log_pub, "Abort: %s", reason);
_abort_front_transition = true;
_vtol_vehicle_status.vtol_transition_failsafe = true;
}
}

1
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@ -222,7 +222,6 @@ private:
* for fixed wings we want to have an idle speed of zero since we do not want
* to waste energy when gliding. */
int _transition_command{vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC};
bool _abort_front_transition{false};
VtolType *_vtol_type{nullptr}; // base class for different vtol types