-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.
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- main motors are the ones which are meant to be used as propulsion in fw mode
- alternate motors are the ones usually meant to be switched off in fw mode
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Silvan Fuhrer