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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/vtol_att_control_main.cpp
+10
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@@ -94,6 +94,12 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles.vt_mc_on_fmu = param_find("VT_MC_ON_FMU");
_params_handles.vt_forward_thrust_enable_mode = param_find("VT_FWD_THRUST_EN");
_params_handles.mpc_land_alt1 = param_find("MPC_LAND_ALT1");
_params_handles.mpc_land_alt2 = param_find("MPC_LAND_ALT2");
_params_handles.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
/* fetch initial parameter values */
parameters_update();
@@ -301,6 +307,10 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.vt_mc_on_fmu, &l);
_params.vt_mc_on_fmu = l;
param_get(_params_handles.vt_forward_thrust_enable_mode, &_params.vt_forward_thrust_enable_mode);
param_get(_params_handles.mpc_land_alt1, &_params.mpc_land_alt1);
param_get(_params_handles.mpc_land_alt2, &_params.mpc_land_alt2);
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {
_vtol_type->parameters_update();