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tiltrotor: expose tilting duration of backtransition in param

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Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-06-27 10:11:41 +02:00
parent 05489f9ecf
commit e34993969b
3 changed files with 22 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+6 -6
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@@ -45,10 +45,9 @@
using namespace matrix; using namespace matrix;
using namespace time_literals; using namespace time_literals;
#define FRONTTRANS_THR_MIN 0.25f #define FRONTTRANS_THR_MIN 0.25f
#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 0.5f; #define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 0.5f
#define BACKTRANS_THROTTLE_UPRAMP_DUR_S 0.5f; #define BACKTRANS_THROTTLE_UPRAMP_DUR_S 0.5f
#define BACKTRANS_MOTORS_UPTILT_DUR_S 1.0f;
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) : Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
VtolType(attc) VtolType(attc)
@@ -321,7 +320,8 @@ void Tiltrotor::update_transition_state()
// tilt rotors back once motors are idle // tilt rotors back once motors are idle
if (_time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) { if (_time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
float progress = (_time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / BACKTRANS_MOTORS_UPTILT_DUR_S; float progress = (_time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / math::max(_param_vt_bt_tilt_dur.get(),
0.1f);
progress = math::constrain(progress, 0.0f, 1.0f); progress = math::constrain(progress, 0.0f, 1.0f);
_tilt_control = moveLinear(_param_vt_tilt_fw.get(), _param_vt_tilt_mc.get(), progress); _tilt_control = moveLinear(_param_vt_tilt_fw.get(), _param_vt_tilt_mc.get(), progress);
} }
@@ -458,7 +458,7 @@ void Tiltrotor::blendThrottleDuringBacktransition(float scale, float target_thro
float Tiltrotor::timeUntilMotorsAreUp() float Tiltrotor::timeUntilMotorsAreUp()
{ {
return BACKTRANS_THROTTLE_DOWNRAMP_DUR_S + BACKTRANS_MOTORS_UPTILT_DUR_S; return BACKTRANS_THROTTLE_DOWNRAMP_DUR_S + _param_vt_bt_tilt_dur.get();
} }
float Tiltrotor::moveLinear(float start, float stop, float progress) float Tiltrotor::moveLinear(float start, float stop, float progress)
src/modules/vtol_att_control/tiltrotor.h
+2 -1
View File
@@ -99,7 +99,8 @@ private:
(ParamFloat<px4::params::VT_TILT_TRANS>) _param_vt_tilt_trans, (ParamFloat<px4::params::VT_TILT_TRANS>) _param_vt_tilt_trans,
(ParamFloat<px4::params::VT_TILT_FW>) _param_vt_tilt_fw, (ParamFloat<px4::params::VT_TILT_FW>) _param_vt_tilt_fw,
(ParamFloat<px4::params::VT_TILT_SPINUP>) _param_vt_tilt_spinup, (ParamFloat<px4::params::VT_TILT_SPINUP>) _param_vt_tilt_spinup,
(ParamFloat<px4::params::VT_TRANS_P2_DUR>) _param_vt_trans_p2_dur (ParamFloat<px4::params::VT_TRANS_P2_DUR>) _param_vt_trans_p2_dur,
(ParamFloat<px4::params::VT_BT_TILT_DUR>) _param_vt_bt_tilt_dur
) )
}; };
src/modules/vtol_att_control/tiltrotor_params.c
+14
View File
@@ -98,3 +98,17 @@ PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f);
* @group VTOL Attitude Control * @group VTOL Attitude Control
*/ */
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f); PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
/**
* Duration motor tilt up in backtransition
*
* Time in seconds it takes to tilt form VT_TILT_FW to VT_TILT_MC.
*
* @unit s
* @min 0.1
* @max 10
* @increment 0.1
* @decimal 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_BT_TILT_DUR, 1.f);