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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 01:43:34 +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>
109 lines
3.8 KiB
C++
109 lines
3.8 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.h
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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*
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*/
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#ifndef TILTROTOR_H
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#define TILTROTOR_H
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#include "vtol_type.h"
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#include <parameters/param.h>
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#include <drivers/drv_hrt.h>
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class Tiltrotor : public VtolType
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{
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public:
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Tiltrotor(VtolAttitudeControl *_att_controller);
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~Tiltrotor() override = default;
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void update_vtol_state() override;
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void update_transition_state() override;
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void fill_actuator_outputs() override;
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void update_mc_state() override;
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void update_fw_state() override;
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void waiting_on_tecs() override;
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float thrust_compensation_for_tilt();
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private:
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struct {
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float tilt_mc; /**< actuator value corresponding to mc tilt */
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float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
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float tilt_fw; /**< actuator value corresponding to fw tilt */
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float tilt_spinup; /**< actuator value corresponding to spinup tilt */
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float front_trans_dur_p2;
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} _params_tiltrotor;
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struct {
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param_t tilt_mc;
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param_t tilt_transition;
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param_t tilt_fw;
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param_t tilt_spinup;
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param_t front_trans_dur_p2;
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} _params_handles_tiltrotor;
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enum class vtol_mode {
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MC_MODE = 0, /**< vtol is in multicopter mode */
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TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
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TRANSITION_FRONT_P2, /**< vtol is in front transition part 2 mode */
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TRANSITION_BACK, /**< vtol is in back transition mode */
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FW_MODE /**< vtol is in fixed wing mode */
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};
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/**
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* Specific to tiltrotor with vertical aligned rear engine/s.
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* These engines need to be shut down in fw mode. During the back-transition
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* they need to idle otherwise they need too much time to spin up for mc mode.
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*/
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struct {
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vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
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hrt_abstime transition_start; /**< absoulte time at which front transition started */
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} _vtol_schedule;
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float _tilt_control{0.0f}; /**< actuator value for the tilt servo */
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void parameters_update() override;
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hrt_abstime _last_timestamp_disarmed{0}; /**< used for calculating time since arming */
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bool _tilt_motors_for_startup{false};
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};
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#endif
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