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vtol standard: add weight to mc motor thrust to avoid sudden changes in rmp after transitions

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Roman 2015-12-12 10:47:51 +01:00 committed by Lorenz Meier
parent 6a567cd911
commit e1597c2aa9
3 changed files with 15 additions and 3 deletions
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11
src/modules/vtol_att_control/standard.cpp
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@ -54,6 +54,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
_params_handles_standard.front_trans_dur = param_find("VT_F_TRANS_DUR");
_params_handles_standard.back_trans_dur = param_find("VT_B_TRANS_DUR");
@ -113,6 +114,7 @@ void Standard::update_vtol_state()
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
} else if (_vtol_schedule.flight_mode == FW_MODE) {
// transition to mc mode
@ -126,6 +128,7 @@ void Standard::update_vtol_state()
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
// transition to MC mode if transition time has passed
@ -151,6 +154,7 @@ void Standard::update_vtol_state()
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
_mc_yaw_weight = 0.0f;
_mc_throttle_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
@ -207,12 +211,14 @@ void Standard::update_transition_state()
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
_mc_yaw_weight = weight;
_mc_throttle_weight = weight;
} else {
// at low speeds give full weight to mc
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@ -223,11 +229,13 @@ void Standard::update_transition_state()
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
_mc_yaw_weight = weight;
_mc_throttle_weight = weight;
} else {
_mc_roll_weight = 1.0f;
_mc_pitch_weight = 1.0f;
_mc_yaw_weight = 1.0f;
_mc_throttle_weight = 1.0f;
}
// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
@ -241,6 +249,7 @@ void Standard::update_transition_state()
_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
_mc_pitch_weight = math::constrain(_mc_pitch_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);
}
void Standard::update_mc_state()
@ -280,7 +289,7 @@ void Standard::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
_mc_yaw_weight; // yaw
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight; // throttle
/* fixed wing controls */
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]

5
src/modules/vtol_att_control/tailsitter.cpp
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@ -178,7 +178,7 @@ void Tailsitter::update_vtol_state()
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
}
@ -461,7 +461,8 @@ void Tailsitter::fill_actuator_outputs()
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
}
break;

2
src/modules/vtol_att_control/vtol_type.h
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@ -117,6 +117,8 @@ protected:
float _mc_roll_weight; // weight for multicopter attitude controller roll output
float _mc_pitch_weight; // weight for multicopter attitude controller pitch output
float _mc_yaw_weight; // weight for multicopter attitude controller yaw output
float _mc_throttle_weight; // weight for multicopter throttle command. Used to avoid
// motors spinning up or cutting too fast whend doing transitions.
float _yaw_transition; // yaw angle in which transition will take place
float _pitch_transition_start; // pitch angle at the start of transition (tailsitter)