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VTOL Tailsitter: set differential thrust to 0 in first 50ms of front transition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-04-19 19:24:22 +02:00
parent 77a3099154
commit f119b15ff1
1 changed files with 9 additions and 6 deletions
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15
src/modules/vtol_att_control/tailsitter.cpp
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@ -281,12 +281,6 @@ void Tailsitter::fill_actuator_outputs()
_thrust_setpoint_0->xyz[2] = -_vehicle_thrust_setpoint_virtual_fw->xyz[0];
// for the short period after switching to FW where there is no thrust published yet from the FW controller,
// keep publishing the last MC thrust to keep the motors running
if (hrt_elapsed_time(&_trans_finished_ts) < 50_ms) {
_thrust_setpoint_0->xyz[2] = _last_thr_in_mc;
}
/* allow differential thrust if enabled */
if (_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VtFwDifthrEnBits::YAW_BIT)) {
_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_fw->xyz[0] * _param_vt_fw_difthr_s_y.get();
@ -300,6 +294,15 @@ void Tailsitter::fill_actuator_outputs()
_torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2] * _param_vt_fw_difthr_s_r.get();
}
// for the short period after switching to FW where there is no thrust published yet from the FW controller,
// keep publishing the last MC thrust to keep the motors running
if (hrt_elapsed_time(&_trans_finished_ts) < 50_ms) {
_thrust_setpoint_0->xyz[2] = _last_thr_in_mc;
_torque_setpoint_0->xyz[0] = 0.f;
_torque_setpoint_0->xyz[1] = 0.f;
_torque_setpoint_0->xyz[2] = 0.f;
}
} else {
_thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2];