mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 14:13:33 +08:00
Silvan
7e4a53f292
As some tiltrotor systems need a certain tilt angle of their motors in oder to spin up freely,
this commit introduces an additional parameter VT_TILT_SPINUP and sets the motor tilt to
this value if disarmed or within 1s since arming.
The spinup consists of 2 phases:
1st phase fixed tilt (duration hardcoded to 1s)
2nd phase transition from spinup tilt to multicopter tilt (hardcoded to 0.5s)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
102 lines
3.1 KiB
C
102 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tiltrotor_params.c
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* Parameters for vtol attitude controller.
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*
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* @author Roman Bapst <roman@px4.io>
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*/
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/**
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* Position of tilt servo in mc mode
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_MC, 0.0f);
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/**
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* Position of tilt servo in transition mode
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f);
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/**
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* Position of tilt servo in fw mode
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
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/**
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* Tilt actuator control value commanded when disarmed and during the first second after arming.
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*
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* This specific tilt during spin-up is necessary for some systems whose motors otherwise don't
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* spin-up freely.
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*
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* @min 0.0
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* @max 1.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TILT_SPINUP, 0.0f);
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/**
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* Duration of front transition phase 2
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*
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* Time in seconds it should take for the rotors to rotate forward completely from the point
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* when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
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*
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* @unit s
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* @min 0.1
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* @max 5.0
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* @increment 0.01
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* @decimal 3
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* @group VTOL Attitude Control
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*/
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PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
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