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cs_check: remove option to override tiltrotor collective thrust

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instead only leaving tilt. adjust function / variable names accordingly.
This commit is contained in:
Balduin 2025-07-14 17:54:02 +02:00
parent 9cfab0482e
commit c7c020bd73
5 changed files with 14 additions and 17 deletions
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2
src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.cpp
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@ -102,7 +102,7 @@ void ActuatorEffectiveness::stopMaskedMotorsWithZeroThrust(uint32_t stoppable_mo
}
}
void ActuatorEffectiveness::setBypassTiltrotorControls(bool bypass, float collective_tilt, float collective_thrust)
void ActuatorEffectiveness::overrideCollectiveTilt(bool do_override, float collective_tilt)
{
// empty implementation to be overridden if needed.
}

2
src/lib/control_allocation/actuator_effectiveness/ActuatorEffectiveness.hpp
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@ -231,7 +231,7 @@ public:
* @param collective_tilt Collective tilt normalized setpoint, in [0, 1]. 0: vertical, 1: horizontal.
* @param collective_thrust Collective thrust normalized setpoint, in [0, 1].
*/
virtual void setBypassTiltrotorControls(bool bypass, float collective_tilt, float collective_thrust);
virtual void overrideCollectiveTilt(bool do_override, float collective_tilt);
protected:
FlightPhase _flight_phase{FlightPhase::HOVER_FLIGHT};

5
src/modules/control_allocator/ControlAllocator.cpp
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@ -504,6 +504,7 @@ void ControlAllocator::preflight_check_handle_command(hrt_abstime now)
// currently this does not check prearmed status. if not prearmed, it will just do nothing.
preflight_check_start(vehicle_command, now);
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS;
} else {
result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
PX4_WARN("Control surface preflight check rejected (not prearmed)");
@ -632,7 +633,7 @@ void ControlAllocator::preflight_check_handle_tilt_control(hrt_abstime now)
if (is_tiltrotor) {
float modified_tilt_control = math::constrain(_preflight_check_input, 0.f, 1.f);
_actuator_effectiveness->setBypassTiltrotorControls(true, modified_tilt_control, 0.0f);
_actuator_effectiveness->overrideCollectiveTilt(true, modified_tilt_control);
} else {
// Commanded collective tilt axis but the vehicle is not a tiltrotor. Abort
@ -647,7 +648,7 @@ void ControlAllocator::preflight_check_handle_tilt_control(hrt_abstime now)
// strictly speaking this is only necessary if is_tiltrotor but
// can't hurt to call it always in case other
// ActuatorEffectiveness* classes implement similar things
_actuator_effectiveness->setBypassTiltrotorControls(false, 0.0f, 0.0f);
_actuator_effectiveness->overrideCollectiveTilt(false, 0.0f);
}
}

17
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
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@ -124,22 +124,20 @@ void ActuatorEffectivenessTiltrotorVTOL::allocateAuxilaryControls(const float dt
}
void ActuatorEffectivenessTiltrotorVTOL::setBypassTiltrotorControls(bool bypass, float collective_tilt,
float collective_thrust)
void ActuatorEffectivenessTiltrotorVTOL::overrideCollectiveTilt(bool do_override, float collective_tilt)
{
// if _bypass_tiltrotor_controls (used for control surface preflight
// if _do_override_collective_tilt (used for control surface preflight
// check), we alter the behaviour of processTiltrotorControls 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 using setBypassTiltrotorControls
// before calling this function using overrideCollectiveTilt
// - collective tilt is added to actuator_sp even if
// (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT)
// evaluates to false
_bypass_tiltrotor_controls = bypass;
_do_override_collective_tilt = do_override;
_collective_tilt_normalized_setpoint = collective_tilt;
_collective_thrust_normalized_setpoint = collective_thrust;
}
void ActuatorEffectivenessTiltrotorVTOL::processTiltrotorControls(ActuatorVector &actuator_sp,
@ -149,14 +147,13 @@ void ActuatorEffectivenessTiltrotorVTOL::processTiltrotorControls(ActuatorVector
{
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) || _do_override_collective_tilt) {
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) {
if (_do_override_collective_tilt) {
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
@ -190,7 +187,7 @@ void ActuatorEffectivenessTiltrotorVTOL::processTiltrotorControls(ActuatorVector
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) {
if (throttleSpoolupFinished() || _flight_phase != FlightPhase::HOVER_FLIGHT || _do_override_collective_tilt) {
actuator_sp(i + _first_tilt_idx) += control_collective_tilt;
} else {

5
src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.hpp
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@ -88,7 +88,7 @@ public:
void getUnallocatedControl(int matrix_index, control_allocator_status_s &status) override;
void setBypassTiltrotorControls(bool bypass, float collective_tilt, float collective_thrust) override;
void overrideCollectiveTilt(bool do_override, float collective_tilt) override;
void processTiltrotorControls(ActuatorVector &actuator_sp,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
@ -121,9 +121,8 @@ protected:
uORB::Subscription _tiltrotor_extra_controls_sub{ORB_ID(tiltrotor_extra_controls)};
bool _bypass_tiltrotor_controls{false};
bool _do_override_collective_tilt{false};
float _collective_tilt_normalized_setpoint{0.5f};
float _collective_thrust_normalized_setpoint{0.0f};
private: