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50 Commits
Author SHA1 Message Date
Julien Lecoeur e1caecc99a VTOL att control: fix roll sign 2019-03-15 00:48:23 -04:00
Julien Lecoeur 34717f7005 Merge pull request #11288 from PX4/pr-tiltrotor_noairspeed_transition_check 
tiltrotor: fix transition check when airspeed is invalid
 2019-02-05 10:09:48 -05:00
Julien Lecoeur 57f9104420 VTOL tiltrotor: respect VT_ELEV_MC_LOCK 2019-02-03 22:33:42 -05:00
Roman Bapst 90bfdb6f0a VTOL rate control architecture improvements (#10819) 
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
 2018-11-21 20:32:40 -05:00
Roman deed462e62 tiltrotor back-transition improvements: 
- do not set zero throttle during the entire back-transition because otherwise
we need to make the back-transition really short
- added ramping up of throttle setpoint during backtransition to avoid
step inputs
- back-transition ends after back-transition time and not when motors are fully
rotated updwards. previously the vehicle would enter hover mode at high speed
which was not handled well by the mc position controller

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-11-06 22:10:38 +01:00
Daniel Agar 02d4405a62 c++11 default destructors 2018-06-30 19:55:08 -04:00
Daniel Agar 4e32cb17df clang-tidy modernize-use-equals-default 2018-05-18 22:48:55 +02:00
Daniel Agar 977ab4e7b8 improve end to end control latency measurement (#9388) 2018-05-02 03:03:32 -04:00
Roman 79ff1436b8 vtol_att_control: move handling of motor state and idle speed selection 
to VtolType class

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Roman 744f806214 vtol_att_control: merge methods to disable a selection of motors 
- moved methods used to modify channel maximum pwm value to VtolType
class so that the can be shared by the differnt vtol types

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-04-12 09:19:47 +02:00
Daniel Agar 00f98c64db VTOL preserve PWM min and max when enabling/disabling actuators 2018-04-12 09:19:47 +02:00
Daniel Agar 2ce8b6a984 delete VT_FW_PITCH_TRIM parameter (#9014) 2018-03-07 09:08:59 -05:00
Roman 1d8f588d37 vtol_att_control: switch from division to multiplication for variable 
calculation

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 9e16543dbe tiltrotor: represent time since transition in seconds 
- more intuitive
- avoids tons of divisions

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Roman 07a84f2246 tiltrotor: removed common vtol parameters 
Signed-off-by: Roman <bapstroman@gmail.com>
 2018-03-07 14:01:51 +01:00
Daniel Agar 137a2444a8 VTOL standard respect VT_ELEV_MC_LOCK 2018-01-11 16:18:47 -05:00
Daniel Agar b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
Daniel Agar 545ce9ae24 modules remove extra semicolons 2017-09-16 21:29:52 +01:00
Andreas Antener e04fe593e0 Tiltrotor: option to enable differential thrust in forwards flight 2017-02-18 08:03:19 +01:00
Andreas Antener 1de7636fad Tiltrotor: gradually reduce roll control with time or airspeed instead of simply switching it off 2017-01-03 20:32:33 -05:00
Andreas Antener c416fc3fa0 Tiltrotor: 
- added open-loop transition time for airspeed-less flying
- added ramping down the back motors during forwards transition
 2017-01-03 20:32:33 -05:00
Roman d77547e7e1 vtol_attitude_control: hotfix, do not update parameters on every iteration 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-11-22 10:05:53 +01:00
Nacho Carnicero 392391e8df Fix VTOL status in forward transition for tiltrotor models 2016-09-19 20:27:14 +02:00
Andreas Antener 8c9f4e8ab8 added which transition the vtol is in to vehicle status 2016-09-13 14:32:00 +02:00
Daniel Agar 3d1713f79e vtol remove Wno-write-strings 2016-05-19 21:49:34 +02:00
Andreas Antener 6ebb2079e0 use new method for instant transition in tiltrotor 2016-05-11 17:29:50 +02:00
Andreas Antener 6eb2e62306 temporarily use indicated airspeed for transitions so we're consistent with tecs until we move tecs to true airspeed 2016-02-18 18:55:56 +01:00
tumbili 4c61b05ef3 tailsitter, tiltrotor: 
- use the transition trust when waiting for TECS to kick in
after transition
 2016-02-18 18:55:56 +01:00
tumbili fa52aa322a VTOL: pull up generic setpoint publishing 2016-02-18 18:55:56 +01:00
Lorenz Meier 3b2e82cd62 VTOL: Fix motor index use in VT_FW_MOT_OFF. Create new param to re-default all deployed vehicles to not shut down motors. 2016-01-01 14:44:42 +01:00
DroneBuster 56e5c50703 VTOL: Fix MOT_OFF bug 2016-01-01 14:39:03 +01:00
Lorenz Meier fb3fade653 VTOL: Use correct motor off define 2015-12-29 14:22:37 +01:00
Roman 9d130653e1 vtol: added timestamps for actuator controls message 2015-12-24 10:18:24 +01:00
Roman 7127f6a92f fixed code style 2015-11-25 13:28:23 +01:00
tumbili 0a0a074194 use virtual attitude setpoint 
Conflicts:
	src/modules/vtol_att_control/tailsitter.cpp
	src/modules/vtol_att_control/tiltrotor.cpp
	src/modules/vtol_att_control/vtol_att_control_main.cpp
	src/modules/vtol_att_control/vtol_att_control_main.h
	src/modules/vtol_att_control/vtol_type.h
 2015-11-25 13:28:22 +01:00
Roman Bapst 0fa8a5286b tiltrotor: publish attitude setpoint when doing a transition 
Conflicts:
	src/modules/vtol_att_control/vtol_att_control_main.h
 2015-11-25 13:28:21 +01:00
tumbili 2b50297c2e vtol: allow switch to fw mode without airspeed reading to facilitate bench testing 2015-11-17 09:14:40 +01:00
Roman 9ef2994134 fix code style of vtol files 2015-10-29 07:55:47 +01:00
Roman 6634952a0c removed unused vtol variables 2015-10-29 07:54:38 +01:00
tumbili 93e557ab75 ported vtol module to posix 2015-10-27 10:18:28 +01:00
Simon Wilks 22690ce897 Take throttle from the appropriate controller given the current mode. 2015-08-23 20:54:53 +02:00
Andreas Antener 80a3c74cfc evaluate transition command in vtol controller instead of vtol type, use distinct state variables instead of additional command struct 2015-08-18 11:44:01 +02:00
Andreas Antener 1da703a13d implemented MAVLink command for VTOL transitions, pulled switch up for each type 2015-08-18 11:44:01 +02:00
tumbili 04f55ce784 vtol fixes: 
- mc pos control: publish attitude setpoint when vtol is in trans mode
- fw att control: do not publish attitude setpoint when in transition mode
- introduce flag in_transition_mode in vehicle status message for vtol
- improve tiltrotor code based on flight testing
 2015-08-12 20:33:17 +02:00
Simon Wilks e7364d302a Allow the user to provide the motor/channel numbers that should be disabled in fixed wing mode in the airframe config. 2015-08-12 20:33:16 +02:00
tumbili c21dd735ed replaced tiltrotor defines by parameters 2015-08-12 20:33:16 +02:00
tumbili b3613dea83 - use index definitions to access actuator controls struct for better readability 
- defined vector for mc_att_ctrl_weights
- more cleanup
 2015-08-12 19:34:44 +02:00
tumbili 02fda7a0f5 major cleanup of tiltrotor code 2015-08-12 19:34:43 +02:00
Simon Wilks 809b6591c3 Bring back the ability to transition plus a partial cleanup of tiltrotor support and firefly6 config updates. 2015-08-05 16:16:03 +02:00
tumbili a212e45744 added tiltrotor attitude control class 2015-06-19 00:04:24 +02:00