During backtransition in gusty conditions the current "pitch-up to decelerate" strategy had deficiencies as the motion is not always purely in body-x direction. Thus we replace it here with a "tilt-up to decelerate" strategy.
Secondly, in GNSS-denied environments where the position error increases, tracking a precise landing point through position feedback is not reasonable, and we now instead discard the position feedback in cases where the position error exceeds 10m.
* add eph limit check for dist-to-target VT BT deceleration
* add alphafilter for acceleration estimate in VT BT, rename constants
* explicitly set yawspeed_setpoint to 0
* replace backtransition pitch-setpoint with tilt-setpoint
* blend vtol-backtransition roll vehicle_attitude_sp based on mc_weight
* remove memcpy for v_att_sp
* pusher_assist: keep pitch setpoint VT_PITCH_MIN
resetting the pitch setpoint to zero made little sense, because we lose
the forward thrust component of the hover motors, while the pusher
throttle was calculated to be applied in addition to the hover forward
component
* pusher assist: change default min pitches to 0
To make for a smoother transition for users who don't care much about
pitch when pusher-assisting and were fine with it (mostly) being at zero
After f0b05ea7cf
the control allocator only has a callback on the torque setpoint and even though this should work
I'm paranoid and would like to avoid surprises by always publishing the thrust before torque
then the samples that were published together are also allocated together.
- only use data from airspeed_validated topic if source is SENSOR
- add 1s timeout (set to NAN if older)
- use FW_USE_AIRSPD consitently (treat the same as CAS=NAN)
Signed-off-by: Silvan <silvan@auterion.com>
vtol_type: timeout transition earlier if we use airspeed and airspeed has
not increased above blend airspeed after openloop front transition time.
Signed-off-by: RomanBapst <bapstroman@gmail.com>
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Instead of tracking a fixed deceleration setpoint during the backtransition we added here position feedback,
such that the vehicle comes to a stop latest at the current position setpoint. This reduces the risk of
overshooting the landing point.
If no position feedback/position setpoint is present the old logic still applies.
It further moves the braking controller to the FlightTaskTransition instad of doing it in
the VTOL attitude mode.
* vtol_type: added position feedback to backward transition
* FlgithTaskTransition: refactored backtransition deceleration/pitch setpoint computation
* FlightTaskTransition: minor improvements
* FlightTaskTransition: use .dot() consistently and remove unnecessary comments
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* Remove euler angles from attitude setpoint message
* Remove usage of euler angles in attitude setpoint messages
This commit removes the usage of euler angles in the vehicle_attitude_setpoint messages
* Fix standard vtol
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME
- remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module
- now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME
- leave tilts at disarmed value during spoolup
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Experience from tuning different VTOL backtransitions showed only having a
I controller is beneficial over a combined FF/I breaking controller.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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>
Jacob Dahl