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Plane: smooth out fwd tailsitter transition

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use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
This commit is contained in:
Andrew Tridgell 2017-11-05 17:25:00 +11:00
parent 0a70ed2516
commit 08ef1dfbdb
2 changed files with 10 additions and 3 deletions
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10
ArduPlane/quadplane.cpp
View File

@ -338,7 +338,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @DisplayName: Tailsitter transition angle
// @Description: This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.
// @Range: 5 80
AP_GROUPINFO("TAILSIT_ANGLE", 48, QuadPlane, tailsitter.transition_angle, 30),
AP_GROUPINFO("TAILSIT_ANGLE", 48, QuadPlane, tailsitter.transition_angle, 45),
// @Param: TILT_RATE_DN
// @DisplayName: Tiltrotor downwards tilt rate
@ -439,6 +439,7 @@ static const struct defaults_struct defaults_table_tailsitter[] = {
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
{ "RUDD_DT_GAIN", 10 },
{ "Q_TRANSITION_MS", 2000 },
};
QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
@ -1335,7 +1336,12 @@ void QuadPlane::update_transition(void)
case TRANSITION_ANGLE_WAIT_FW: {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
assisted_flight = true;
plane.nav_pitch_cd = constrain_float(-(tailsitter.transition_angle+5)*100, -8500, -2500);
// calculate transition rate in degrees per
// millisecond. Assume we want to get to the transition angle
// in half the transition time
float transition_rate = tailsitter.transition_angle / float(transition_time_ms/2);
uint32_t dt = AP_HAL::millis() - transition_start_ms;
plane.nav_pitch_cd = constrain_float((-transition_rate * dt)*100, -8500, 0);
plane.nav_roll_cd = 0;
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,

3
ArduPlane/tailsitter.cpp
View File

@ -151,7 +151,7 @@ bool QuadPlane::tailsitter_transition_fw_complete(void)
}
if (labs(ahrs_view->pitch_sensor) > tailsitter.transition_angle*100 ||
roll_cd > tailsitter.transition_angle*100 ||
AP_HAL::millis() - transition_start_ms > 2000) {
AP_HAL::millis() - transition_start_ms > transition_time_ms) {
return true;
}
// still waiting
@ -174,6 +174,7 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
return true;
}
// still waiting
attitude_control->reset_rate_controller_I_terms();
return false;
}