cba80a6338
Tiltrotor: front transition: fade out yaw equally to roll
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
641383cbfb
VTOL backtransition improvements
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* 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 >
2021-10-15 09:58:48 +02:00
d39c32619e
Tiltrotor: add minimum throttle of 0.25 during front transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-15 09:58:48 +02:00
f61853d428
vtol: implement throttle blending out and into transition
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- blend into TECS throttle after front transition
- blend out of TECS throttle during backtransition
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
8dd76050e0
vtol: take fixed wing attitude setpoint during transition if altitude is
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not controlled
- required as there is no flightask running if altitude is not controlled
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-10-15 09:58:48 +02:00
801ef2d520
VTOL main: add local variable for int(vehicle_command.param1 + 0.5)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
342e9900f8
vtol main: only guard against transition to FW in certain flight modes, never to MC
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-11 18:15:18 +02:00
47a72a6b7b
Update vtol_att_control_main.cpp
2021-10-09 19:39:43 -04:00
9fd19a2c83
Update standard.cpp
2021-10-09 19:39:43 -04:00
af34b21ba8
Update tiltrotor.cpp
2021-10-09 19:39:43 -04:00
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
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Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
a202bcbc73
VTOL: fix param description concerning VT_PITCH_MIN
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-07 09:22:59 -04:00
1a4ce136f3
Tiltrotor: add hover tilt offset to pusher assist tilt
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
4e3fa7cf35
VTOL: rework forward actuation assist
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-allow positive pitch offsets in hover
-add param for min pitch during LAND
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:27:19 -04:00
f0de88fada
vtol_type: fix motor_state::VALUE
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-06 11:26:39 -04:00
2dca51216c
vtol: change message for transition timeout warning
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
bdc57178d4
Tailsitter: add add transition timeout (abort transition after VT_TRANS_TMEOUT, Quadchute)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
1a1bb2629d
tiltrotor: add transition timeout (abort transition after VT_TRANS_TIMEOUT, Quadchute)
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-10-05 18:19:33 -04:00
f8dc915789
vtol_att_control: switch to events
2021-09-11 14:08:41 -04:00
c35293107d
tailsitter.cpp:If transition timeout,abort transition
2021-09-03 13:41:40 +02:00
6d3120d00d
lower case c in Quadchute
2021-08-23 09:08:53 -04:00
a260ea8233
more consistent quadchute messages
2021-08-23 09:08:53 -04:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
6a44fc7cac
fix vtol_att_control: set _current_max_pwm_values to current values on init
2021-07-02 00:53:42 -04:00
a264541861
explicitly set param2 to 0 in existing *DO_VTOL_TRANSITION commands. add a guard against NaNs.
2021-06-21 22:39:54 +02:00
8d078eb02e
vtol_att_control:Fix type
2021-06-16 17:07:47 +02:00
08dab18a8b
vtol_type: in FW, set min PWM to PWM_DEFAULT_MIN instead of PWM_MOTOR_OFF
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-06 10:20:24 +02:00
cd4378b8c6
vtol: init boolean consistently
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-05-03 18:58:26 -04:00
ab10e68a40
update Quadchute trigger from mavlink PR 1569
2021-05-03 21:44:27 +03:00
bf9758247b
add VEHICLE_VTOL_STATE_QC and remove hardcoding
2021-05-03 21:44:27 +03:00
d3ddbe8db5
Allow quadchute from external command
2021-05-03 21:44:27 +03:00
3c4b0c1b8c
tiltrotor: only allow increasing tilt during first part of transition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-05-02 21:51:09 -04:00
f6a34e1e80
vtol_type: reset accel to pitch integrator
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
2021-04-27 07:43:38 +03:00
01d8c3da3d
vtol_att_control: occasional tailsitter forward transition failure issue solved
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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.
2021-04-03 19:19:48 +02:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
7cc4aa6fe2
vtol_att_control: fix code style
2021-02-22 12:09:39 -05:00
a8a9832b59
Allow new modes for forward thrust
2021-02-22 11:18:49 -05:00
d1dfa26903
consume all available queued vehicle_commands
2021-01-26 12:00:18 -05:00
78c05275d2
tailsitter: Fix differential thrust in FW mode.
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Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com >
2021-01-18 09:04:27 +01:00
df41c99b61
make failsafe handling consistent over all VTOL types
2021-01-15 09:19:07 +03:00
38e46ff341
Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)
2021-01-15 09:19:07 +03:00
40fbfdc054
Undo make format change
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Co-authored-by: Matthias Grob <maetugr@gmail.com >
2021-01-15 09:19:07 +03:00
83ddb77a5f
delete excess empty lines
2021-01-15 09:19:07 +03:00
b90fafd5cd
Fix quadchute logic so that it also works during back transition
2021-01-15 09:19:07 +03:00
967d35a6b6
rate limit most parameter_update subscriptions
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- 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
2021-01-10 21:09:15 -05:00
706f806943
VTOL: standard VTOL and Tiltrotor manual MC throttle during transition
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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 >
2021-01-08 10:28:00 +01:00
850d0bc588
vtol_type: remvoe const from function declaration
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-01-04 15:32:00 +01:00
0871f0f52d
vtol: refactor of maximum pwm value settings for main and alternate motors
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- 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 >
2021-01-04 15:32:00 +01:00
92afe45f7f
vtol_att_control: improve readability of fill_actuator_outputs()
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- vtol standard pass through landing gear for MC and flaps for FW
2020-12-24 09:29:17 -05:00
9849ff4a9c
Standard VTOL: set idle PWM during backtransition
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-12-24 09:25:08 +01:00
Silvan Fuhrer