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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
2015-12-21 16:36:07 +01:00
committed by Lorenz Meier
parent 6a567cd911
commit e1597c2aa9
3 changed files with 15 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+10 -1
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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]