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Plane: smarter Z controller initialisation for quadplanes 

this is more generic than the previous one used only for the full
position controller
This commit is contained in:
Andrew Tridgell 2017-03-13 18:04:09 +11:00
parent dd4f56dd98
commit 2db8589f49
2 changed files with 43 additions and 15 deletions
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53
ArduPlane/quadplane.cpp
View File

@ -649,6 +649,39 @@ void QuadPlane::control_stabilize(void)
}
// run the multicopter Z controller
void QuadPlane::run_z_controller(void)
{
uint32_t now = AP_HAL::millis();
if (now - last_pidz_active_ms > 2000) {
// it has been two seconds since we last ran the Z
// controller. We need to assume the integrator may be way off
// we will set the initial integrator based on airspeed.
float aspeed, airspeed_threshold;
if (assist_speed > 0) {
airspeed_threshold = assist_speed;
} else {
airspeed_threshold = plane.aparm.airspeed_min;
}
if (ahrs.airspeed_estimate(&aspeed)) {
// starting at 5m/s below the threshold we ramp up the
// amount of integrator suppression until we are at full
// suppression of initial vertical integrator at the full
// transition airspeed
float initial_z_integrator = linear_interpolate(0, -motors->get_throttle_hover()*1000.0f,
aspeed,
airspeed_threshold-5,
airspeed_threshold);
pid_accel_z.set_integrator(initial_z_integrator);
} else {
pid_accel_z.set_integrator(0);
}
}
last_pidz_active_ms = now;
pos_control->update_z_controller();
}
// init quadplane hover mode
void QuadPlane::init_hover(void)
{
@ -683,8 +716,7 @@ void QuadPlane::hold_hover(float target_climb_rate)
// call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, plane.G_Dt, false);
pos_control->update_z_controller();
run_z_controller();
}
/*
@ -855,7 +887,7 @@ void QuadPlane::control_loiter()
// update altitude target and call position controller
pos_control->set_alt_target_from_climb_rate_ff(get_pilot_desired_climb_rate_cms(), plane.G_Dt, false);
}
pos_control->update_z_controller();
run_z_controller();
}
/*
@ -1535,15 +1567,6 @@ void QuadPlane::vtol_position_controller(void)
// max_speed will control how fast we will fly. It will always decrease
poscontrol.max_speed = MAX(speed_towards_target, wp_nav->get_speed_xy() * 0.01);
poscontrol.speed_scale = poscontrol.max_speed / MAX(distance, 1);
// start with low integrator. The alt_hold controller will
// add hover throttle to initial integrator. By starting
// without it we end up with a smoother startup when
// transitioning from fixed wing flight
float aspeed;
if (ahrs.airspeed_estimate(&aspeed) && aspeed > 6) {
pid_accel_z.set_integrator((-motors->get_throttle_hover())*1000.0f);
}
}
// run fixed wing navigation
@ -1683,7 +1706,7 @@ void QuadPlane::vtol_position_controller(void)
break;
}
pos_control->update_z_controller();
run_z_controller();
}
@ -1743,7 +1766,7 @@ void QuadPlane::takeoff_controller(void)
plane.nav_pitch_cd = pos_control->get_pitch();
pos_control->set_alt_target_from_climb_rate(wp_nav->get_speed_up(), plane.G_Dt, true);
pos_control->update_z_controller();
run_z_controller();
}
/*
@ -1770,7 +1793,7 @@ void QuadPlane::waypoint_controller(void)
// climb based on altitude error
pos_control->set_alt_target_from_climb_rate_ff(assist_climb_rate_cms(), plane.G_Dt, false);
pos_control->update_z_controller();
run_z_controller();
}

5
ArduPlane/quadplane.h
View File

@ -189,6 +189,8 @@ private:
void guided_update(void);
void check_throttle_suppression(void);
void run_z_controller(void);
AP_Int16 transition_time_ms;
@ -356,6 +358,9 @@ private:
// time when motors were last active
uint32_t last_motors_active_ms;
// time when we last ran the vertical accel controller
uint32_t last_pidz_active_ms;
void tiltrotor_slew(float tilt);
void tiltrotor_binary_slew(bool forward);