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553 Commits
Author SHA1 Message Date
RomanBapst ffdf186598 vtol_att_control: reset transition timer states when starting a transition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-12-16 11:36:00 +03:00
RomanBapst 48e8477799 vtol_att_control: disable maximum height for quadchute by default 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-12-15 15:40:53 +03:00
RomanBapst 9ed51ba8ed quadchute: introduced parameter to specify maximum height 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-12-15 15:40:53 +03:00
Roman Bapst 257d4e473b fixed tailsitter transitions (#20756) 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-12-13 10:38:38 +01:00
Roman BapstandSilvan Fuhrer cfb670fbb3 Refactor quadchute logic (#20704) 
* moved computation of _time_since_trans_start into base class

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* refactor quadchute logic
- move entired logic into VtolType class
- split into smaller functions

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* Update src/modules/vtol_att_control/vtol_type.h

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2022-12-08 11:56:20 +03:00
Silvan FuhrerandMatthias Grob ac28c6b7e2 VTOL: take home_position into account for ground clearance (#20683) 
* VTOL: take home_position into account for ground clearance

For approximating distance to ground in case there is no valid distance sensor
data, subtract the home position altitude from the local position altitude.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-12-06 13:19:35 +01:00
GaspardBesacier dfced1fe46 VTOL: Smarter pusher ramp up during front transtitions for standard VTOLs (#20394) 
New param VT_PSHER_SLEW for ramping up throttle of pusher during front/back transition, that replaces the old VT_PSHER_RMP_DT param.
 2022-11-14 16:32:51 +01:00
Silvan Fuhrer f5ecd1106f VTOL: some parater meta data fixes/improvements 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-14 16:25:46 +01:00
Silvan Fuhrer c04a67401e Remove some @decimal and @increment from integer parameters 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-14 16:25:46 +01:00
JaeyoungLim a9542baf3c Enable motor controls for tailsitter VTOLs in fixed wing mode (enable Quad Tailsitters) (#20511) 
* Enable motor controls for fixed wing mode in tailsitters

This commit enable motor controls in fixed wing mode for tailsitters

This is needed for enabling quad tailsitters

* VTOL: differential thrust in FW: adapt params to be generic for all axes

Until now only suppoted on yaw axis. Not to be supported also on Roll and Pitch.

- VT_FW_DIFTHR_EN: make bitmask for all three axes independently. First bit is Yaw,
sucht that existing meaning of VT_FW_DIFTHR_EN doesn't change.
- VT_FW_DIFTHR_SC: rename to VT_FW_DIFTHR_S_Y and add same params for roll (_R) and
pitch (_P).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Integrate differential control bits to three axis control

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-11-07 15:29:14 +01:00
thomas f9f466854b abort front transition in vtol module instead of in navigator/rtl.cpp 2022-10-24 13:55:41 +02:00
Beat Küng 04b1cbb423 vtol_att_control: standard: also do blending for FW controls 
So that the sum of the control is always 1.
 2022-10-04 09:54:11 +02:00
Silvan Fuhrer f89df9d986 VTOL: make const and return when either of mc or fw att sp isn't updated 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer fdcbabeb9e VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent 
Use a pitch of 0 to initialize the ramp otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer 9c5a423753 VTOL: in update_transition_state(): check that needed virtual attitude setpoints are recent 
This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer 97e3b76a2e VTOL: improve readability of VT_FWD_THRUST_EN param 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-29 16:01:43 +02:00
Silvan Fuhrer d7fab74727 VTOL: remove _flag_was_in_trans_mode from standard vtol (not used) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-21 14:18:43 -04:00
Silvan Fuhrer 828f629413 VTOL: remove some pwm hackery leftovers from legacy mixing systems 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-09-21 14:18:43 -04:00
RomanBapst e41913a699 vtol_type: removed unused "was_in_trans_mode" function 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-20 16:50:07 +02:00
RomanBapst 2a6cd4a409 vtol_att_control: avoid using non-recent attitude setpoint during beginning 
of transition

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-09-20 16:50:07 +02:00
Daniel Agar ce337a3d80 delete unused PWM IOCTLs 2022-09-09 09:14:09 -04:00
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Junwoo Hwang 32ae00fd44 Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729) 
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
 2022-07-07 16:15:11 +02:00
RomanBapst 44f98ac355 standard: fixed pusher assist in hover 
- in hover mode the pusher assist is already set in update_mc_state()

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-07-06 16:07:55 +02:00
mcsauder 6b0788ff46 Standardize variable naming and formatting across vehicle attitude controller files. 2022-05-21 12:22:18 -04:00
Silvan Fuhrer 8f2c84d36f VTOL paras: add min of 0.1 to transition times 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer c29ca6c959 tailsitter: guard against division by 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 3cf07e1be5 VTOL: rename params _PTCH to _PITCH 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 7c5f0121a5 VTOL: remove some unsued variables 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 2b7efeacca vtol_vehicle_status: replace several status bools by single vehicle_vtol_state 
Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 635f64a2e5 Commander: remove permanent stabilization option for fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 7292ce483c VTOL: move to cpp params API 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-18 10:01:04 +02:00
Silvan Fuhrer 46179586fb Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator 
Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in
MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they
can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated
by the allocator directly.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-11 10:19:37 +02:00
Silvan Fuhrer 089673ff35 only allow positive spoiler and flap controls 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 64ff31aa08 VTOL: add flap and spoiler support 
- including slew rate limiting
- adds option to set spoiler setting during the Land phase (hover)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Silvan Fuhrer 21a2892f47 use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] 
[4] is reserved for Flaps, so also having the tilt on it was preventing us from
using flaps on tiltrotors, and other ripple effects.
By using [8] the tilt is separated from all other channels - it requires to increase the size of
actuator_controls by 1 to 9.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-05-03 15:11:21 +02:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Konrad e080fab8f6 Set up landing gear logic for tiltrotor and tailsitter VTOL. Gear is set down when in hover mode, esle gear is set up. 2022-03-21 09:30:04 +01:00
Konrad d7de67844f Set up landing gear logic for standard VTOL. Gear is set down when in hover mode, else gear is set up. 2022-03-21 09:30:04 +01:00
Roman Bapst 69560bd4f4 Compensate VTOL transition time for air density (#19293) 
* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2022-03-09 08:41:30 -05:00
Beat Küng 76d8d8cae6 control_allocator: generic motor configuration for standard vtols 
This adds the pusher/puller to the standard motors and makes the axis
configurable.
 2022-02-25 08:30:58 +01:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Silvan Fuhrer 25f5152583 Tiltrotor: make sure tilt doesn't exceed the FW tilt angle 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2022-02-17 13:21:50 +01:00
Silvan Fuhrer 48be55dec8 Tiltrotor: disable tilt/thrust compensation when dynamic allocation is enabled 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 31d7328f4d Tailsitter: invert roll (make it NED-correct) for filling vehicle_torque_setpoint 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 460a0df850 tiltrotor: fill out thrust_setpoint[0] also in hover, based on tilt and hover thrust 
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>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 426aa76a59 CA/VTOL: change description of VT_ELEV_MC_LOCK as it applies to not just elevons 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 07306c4be3 control_allocator: add support for Tailsitter VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Silvan Fuhrer 0568cff299 control_allocator: handle thrust allocation for VTOL's properly 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-12-24 20:06:13 -05:00
Beat Küng b5c2cdf6c4 vtol_att_control: do not manipulate PWM outputs if SYS_CTRL_ALLOC == 1 
Not required anymore
 2021-12-24 20:06:13 -05:00