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tiltrotor back-transition improvements:

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- do not set zero throttle during the entire back-transition because otherwise
we need to make the back-transition really short
- added ramping up of throttle setpoint during backtransition to avoid
step inputs
- back-transition ends after back-transition time and not when motors are fully
rotated updwards. previously the vehicle would enter hover mode at high speed
which was not handled well by the mc position controller

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-11-06 17:27:22 +01:00 committed by Roman Bapst
parent c642025339
commit deed462e62
2 changed files with 19 additions and 6 deletions
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24
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -124,7 +124,9 @@ void Tiltrotor::update_vtol_state()
break;
case TRANSITION_BACK:
if (_tilt_control <= _params_tiltrotor.tilt_mc) {
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (_tilt_control <= _params_tiltrotor.tilt_mc && time_since_trans_start > _params->back_trans_duration) {
_vtol_schedule.flight_mode = MC_MODE;
}
@ -303,18 +305,28 @@ void Tiltrotor::update_transition_state()
// tilt rotors back
if (_tilt_control > _params_tiltrotor.tilt_mc) {
_tilt_control = _params_tiltrotor.tilt_fw -
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc) * time_since_trans_start / _params->back_trans_duration;
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc) * time_since_trans_start / 1.0f;
}
// set zero throttle for backtransition otherwise unwanted moments will be created
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
_mc_yaw_weight = 1.0f;
_mc_roll_weight = 0.0f;
// while we quickly rotate back the motors keep throttle at idle
if (time_since_trans_start < 1.0f) {
_mc_throttle_weight = 0.0f;
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
} else {
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
// slowly ramp up throttle to avoid step inputs
_mc_throttle_weight = (time_since_trans_start - 1.0f) / 1.0f;
}
}
_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
_mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f);
// copy virtual attitude setpoint to real attitude setpoint (we use multicopter att sp)
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
@ -353,7 +365,7 @@ void Tiltrotor::fill_actuator_outputs()
} else {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;
}
_actuators_out_1->timestamp = hrt_absolute_time();

1
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -124,6 +124,7 @@ void VtolType::update_mc_state()
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
}
void VtolType::update_fw_state()