Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: tailsitter: add gains to scale control surface vs motors

This commit is contained in:
Iampete1 2021-12-08 20:16:06 +00:00 committed by Andrew Tridgell
parent 4b7b5a4d90
commit 055d90d49b
2 changed files with 24 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
ArduPlane/tailsitter.cpp
View File

@ -141,6 +141,24 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @Range: -1 100
AP_GROUPINFO("THR_VT", 18, Tailsitter, transition_throttle_vtol, -1),
// @Param: VT_R_P
// @DisplayName: Tailsitter VTOL control surface roll gain
// @Description: Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains
// @Range: 0 2
AP_GROUPINFO("VT_R_P", 19, Tailsitter, VTOL_roll_scale, 1),
// @Param: VT_P_P
// @DisplayName: Tailsitter VTOL control surface pitch gain
// @Description: Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains
// @Range: 0 2
AP_GROUPINFO("VT_P_P", 20, Tailsitter, VTOL_pitch_scale, 1),
// @Param: VT_Y_P
// @DisplayName: Tailsitter VTOL control surface yaw gain
// @Description: Scale from PID output to control surface, for use where a single axis is actuated by both motors and Tilt/control surface on a copter style tailsitter, increase to favor control surfaces and reduce motor output by reducing gains
// @Range: 0 2
AP_GROUPINFO("VT_Y_P", 21, Tailsitter, VTOL_yaw_scale, 1),
AP_GROUPEND
};
@ -363,9 +381,9 @@ void Tailsitter::output(void)
plane.yawController.reset_I();
// pull in copter control outputs
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch()+motors->get_pitch_ff())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll()+motors->get_roll_ff())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX*VTOL_yaw_scale);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch()+motors->get_pitch_ff())*SERVO_MAX*VTOL_pitch_scale);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll()+motors->get_roll_ff())*SERVO_MAX*VTOL_roll_scale);
if (hal.util->get_soft_armed()) {
// scale surfaces for throttle

3
ArduPlane/tailsitter.h
View File

@ -103,6 +103,9 @@ public:
AP_Float scaling_speed_max;
AP_Int16 gain_scaling_mask;
AP_Float disk_loading;
AP_Float VTOL_roll_scale;
AP_Float VTOL_pitch_scale;
AP_Float VTOL_yaw_scale;
private: