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VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude (#14706)

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* VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher/tilt assist

Depending on the setting of this param, the pusher assist is:
-completely disabled (default)
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode if above MPC_LAND_ALT1
-enabled in pos, alt and auto mode if above MPC_LAND_ALT2
-enabled in pos, alt and auto mode
(before it was always disabled in LAND mode)

-change default of VT_FWD_THRUST_SC from 0 to 0.7

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-04-28 10:44:57 +02:00
committed by GitHub
parent 48c60d354d
commit f78847b26f
5 changed files with 88 additions and 14 deletions
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src/modules/vtol_att_control/standard_params.c
+27 -8
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@@ -41,9 +41,27 @@
/**
* Maximum allowed down-pitch the controller is able to demand. This prevents large, negative
* lift values being created when facing strong winds. The vehicle will use the pusher motor
* to accelerate forward if necessary.
* Enable/disable usage of fixed-wing actuators in hover to generate forward force (instead of pitching down).
* This technique can be used to avoid the plane having to pitch down in order to move forward.
* This prevents large, negative lift values being created when facing strong winds.
* Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL).
* Only active if demaded down pitch is above VT_DWN_PITCH_MAX, and uses VT_FWD_THRUST_SC to get from
* demanded down pitch to fixed-wing actuation.
*
* @value 0 Disable FW forward actuation in hover.
* @value 1 Enable FW forward actuation in hover in altitude, position and auto modes (except LANDING).
* @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
* @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
* @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
*
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
/**
* Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
* when fixed-wing forward actuation is active (seeVT_FW_TRHUST_EN).
* If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
*
* @min 0.0
* @max 45.0
@@ -52,16 +70,17 @@
PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);
/**
* Fixed wing thrust scale for hover forward flight.
* Fixed-wing actuator thrust scale for hover forward flight.
*
* Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode.
* Only active if demaded down pitch is above VT_DWN_PITCH_MAX.
* Enabled via VT_FWD_THRUST_EN.
*
* Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode.
* This technique can be used to avoid the plane having to pitch down a lot in order to move forward.
* Setting this value to 0 (default) will disable this strategy.
* @min 0.0
* @max 2.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.0f);
PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
/**
* Back transition MC motor ramp up time