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Tiltrotor: add minimum throttle of 0.25 during front transition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-10-05 09:49:54 +02:00
parent f61853d428
commit d39c32619e
1 changed files with 11 additions and 2 deletions
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13
src/modules/vtol_att_control/tiltrotor.cpp
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@ -46,6 +46,7 @@ using namespace matrix;
using namespace time_literals;
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define FRONTTRANS_THR_MIN 0.25f
#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f
#define BACKTRANS_THROTTLE_UPRAMP_DUR_S 1.0f;
#define BACKTRANS_MOTORS_UPTILT_DUR_S 1.0f;
@ -305,7 +306,6 @@ void Tiltrotor::update_transition_state()
} else {
memcpy(_v_att_sp, _fw_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
_v_att_sp->thrust_body[2] = -_fw_virtual_att_sp->thrust_body[0];
_thrust_transition = _fw_virtual_att_sp->thrust_body[0];
}
@ -354,6 +354,9 @@ void Tiltrotor::update_transition_state()
_mc_yaw_weight = _mc_roll_weight;
}
// add minimum throttle for front transition
_thrust_transition = math::max(_thrust_transition, FRONTTRANS_THR_MIN);
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = _params_tiltrotor.tilt_transition +
@ -369,8 +372,11 @@ void Tiltrotor::update_transition_state()
set_alternate_motor_state(motor_state::VALUE, ramp_down_value);
// add minimum throttle for front transition
_thrust_transition = math::max(_thrust_transition, FRONTTRANS_THR_MIN);
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
// this line is needed such that the fw rate controller is initialized with the current throttle value.
// if this is not then then there is race condition where the fw rate controller still publishes a zero sample throttle after transition
_v_att_sp->thrust_body[0] = _thrust_transition;
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
@ -418,6 +424,9 @@ void Tiltrotor::update_transition_state()
}
}
_v_att_sp->thrust_body[2] = -_thrust_transition;
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);