In the tiltrotor case, beside an F_z thrust setpoint also a F_x setpoint must be passed
to the allocator as the matrix has non-zero thrust-x effectiveness when tilts are applied.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
-use groundspeed in body x for exit condition
-use airspeed for speed exit condition if no valid groundspeed
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* vtol_type: only allow positive pitch setpoints during backtransition
* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary
* Tiltrotor: fix throttle during first part of back transition
* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Tailsitter VTOLs very occasionally gets stuck with zero roll and pitch angle in multicopter mode after
a forward transition command is issued.
This very rare behavior is triggered by the following events:
1> a forward transition is triggered either in auto or manual mode.
2> in the vtol_att_control main loop, if multicopter and fixed wing attitude setpoints are not updated, transition state is not updated
3> the commander changes the vehicle status to transition mode.
4> multicopter pos controller initiated Transition flight task. This results in zero roll and pitch setpoint due to zero acceleration setpoint
5> now vtol_att_control executes and updates the transition state. Specifically, _q_trans_start and _q_trans_sp are set with zero roll and pitch sp
6> tilt is evaluated to be NaN, despite _q_trans_sp being normalized. This happens for 25% of all yaw angles when using float datatype. This can be
verified using the matrix library
7> once tilt is evaluated to be NaN, _q_trans_sp is never updated again and is stuck in this state for ever.
This has been fixed by constraining the cos(tilt) within +1 to -1 range
Further, _q_trans_start and _q_trans_sp are immedietly initialized after a transition event is triggered.
Silvan Fuhrer