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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
4 changed files with 25 additions and 12 deletions
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src/modules/vtol_att_control/standard.cpp
+5 -5
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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