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VTOL: Smarter pusher ramp up during front transtitions for standard VTOLs (#20394)

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New param VT_PSHER_SLEW for ramping up throttle of pusher during front/back transition, that replaces the old VT_PSHER_RMP_DT param.
This commit is contained in:
GaspardBesacier 2022-11-14 16:32:51 +01:00 committed by GitHub
parent f5ecd1106f
commit dfced1fe46
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 25 additions and 12 deletions
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11
src/lib/parameters/param_translation.cpp
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@ -259,5 +259,16 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-11-11: translate VT_F_TRANS_THR/VT_PSHER_RMP_DT -> VT_PSHER_SLEW
{
if (strcmp("VT_PSHER_RMP_DT", node->name) == 0) {
strcpy(node->name, "VT_PSHER_SLEW");
double _param_vt_f_trans_thr = param_find("VT_F_TRANS_THR");
node->d = _param_vt_f_trans_thr / node->d;
PX4_INFO("copying %s -> %s", "VT_PSHER_RMP_DT", "VT_PSHER_SLEW");
return true;
}
}
return false;
}

10
src/modules/vtol_att_control/standard.cpp
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@ -231,13 +231,14 @@ void Standard::update_transition_state()
}
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
if (_param_vt_psher_rmp_dt.get() <= 0.0f) {
if (_param_vt_psher_slew.get() <= FLT_EPSILON) {
// just set the final target throttle value
_pusher_throttle = _param_vt_f_trans_thr.get();
} else if (_pusher_throttle <= _param_vt_f_trans_thr.get()) {
// ramp up throttle to the target throttle value
_pusher_throttle = _param_vt_f_trans_thr.get() * time_since_trans_start / _param_vt_psher_rmp_dt.get();
_pusher_throttle = math::min(_pusher_throttle +
_param_vt_psher_slew.get() * _dt, _param_vt_f_trans_thr.get());
}
_airspeed_trans_blend_margin = _param_vt_arsp_trans.get() - _param_vt_arsp_blend.get();
@ -291,9 +292,8 @@ void Standard::update_transition_state()
if (time_since_trans_start >= _param_vt_b_rev_del.get()) {
// Handle throttle reversal for active breaking
float thrscale = (time_since_trans_start - _param_vt_b_rev_del.get()) / (_param_vt_psher_rmp_dt.get());
thrscale = math::constrain(thrscale, 0.0f, 1.0f);
_pusher_throttle = thrscale * _param_vt_b_trans_thr.get();
_pusher_throttle = math::constrain((time_since_trans_start - _param_vt_b_rev_del.get())
* _param_vt_psher_slew.get(), 0.0f, _param_vt_b_trans_thr.get());
}
// continually increase mc attitude control as we transition back to mc mode

2
src/modules/vtol_att_control/standard.h
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@ -84,7 +84,7 @@ private:
void parameters_update() override;
DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
(ParamFloat<px4::params::VT_PSHER_RMP_DT>) _param_vt_psher_rmp_dt,
(ParamFloat<px4::params::VT_PSHER_SLEW>) _param_vt_psher_slew,
(ParamFloat<px4::params::VT_B_TRANS_RAMP>) _param_vt_b_trans_ramp,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
(ParamFloat<px4::params::VT_B_REV_OUT>) _param_vt_b_rev_out,

14
src/modules/vtol_att_control/standard_params.c
View File

@ -108,7 +108,7 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
*
* Set this to a value greater than 0 to give the motor time to spin down.
*
* unit s
* @unit s
* @min 0
* @max 10
* @increment 1
@ -118,14 +118,16 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
/**
* Pusher throttle ramp up window
* Pusher throttle ramp up slew rate
*
* Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
* to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
* Defines the slew rate of the puller/pusher throttle during transitions.
* Zero will deactivate the slew rate limiting and thus produce an instant throttle
* rise to the transition throttle VT_F_TRANS_THR.
*
* @max 20
* @unit 1/s
* @min 0
* @increment 0.01
* @decimal 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);
PARAM_DEFINE_FLOAT(VT_PSHER_SLEW, 0.33f);