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Plane: quadplane: add transtion fail action param

This commit is contained in:
Iampete1 2022-01-03 19:48:50 +00:00 committed by Andrew Tridgell
parent 894b491faa
commit 3a5c7ea8fc
2 changed files with 44 additions and 16 deletions
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41
ArduPlane/quadplane.cpp
View File

@ -327,12 +327,12 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Param: TRANS_FAIL
// @DisplayName: Quadplane transition failure time
// @Description: Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to QLAND or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit.
// @Description: Maximum time allowed for forward transitions, exceeding this time will cancel the transition and the aircraft will immediately change to the mode set by Q_TRANS_FAIL_ACT or finish the transition depending on Q_OPTIONS bit 19. 0 for no limit.
// @Units: s
// @Range: 0 20
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("TRANS_FAIL", 8, QuadPlane, transition_failure, 0),
AP_GROUPINFO("TRANS_FAIL", 8, QuadPlane, transition_failure.timeout, 0),
// 9: TAILSIT_MOTMX
@ -436,6 +436,12 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Range: 0 10000
AP_GROUPINFO("BACKTRANS_MS", 28, QuadPlane, back_trans_pitch_limit_ms, 3000),
// @Param: TRANS_FAIL_ACT
// @DisplayName: Quadplane transition failure action
// @Description: This sets the mode that is changed to when Q_TRANS_FAIL time elapses, if set. See also Q_OPTIONS bit 19: CompleteTransition if Q_TRANS_FAIL
// @Values: -1:Warn only, 0:QLand, 1:QRTL
AP_GROUPINFO("TRANS_FAIL_ACT", 29, QuadPlane, transition_failure.action, 0),
AP_GROUPEND
};
@ -1482,22 +1488,35 @@ void SLT_Transition::update()
// check if we have failed to transition while in TRANSITION_AIRSPEED_WAIT
if (transition_start_ms != 0 &&
(quadplane.transition_failure > 0) &&
((now - transition_start_ms) > ((uint32_t)quadplane.transition_failure * 1000))) {
(quadplane.transition_failure.timeout > 0) &&
((now - transition_start_ms) > ((uint32_t)quadplane.transition_failure.timeout * 1000))) {
if (!quadplane.transition_failure.warned) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Transition failed, exceeded time limit");
quadplane.transition_failure.warned = true;
}
// if option is set and ground speed> 1/2 arspd_fbw_min for non-tiltrotors, then complete transition, otherwise QLAND.
// tiltrotors will immediately transition
if (quadplane.options & QuadPlane::OPTION_TRANS_FAIL_TO_FW) {
if (!plane.quadplane.tiltrotor.enabled() &&
plane.ahrs.groundspeed() < plane.aparm.airspeed_min * 0.5) {
plane.set_mode(plane.mode_qland, ModeReason::VTOL_FAILED_TRANSITION);
} else {
const bool tiltrotor_with_ground_speed = quadplane.tiltrotor.enabled() && (plane.ahrs.groundspeed() > plane.aparm.airspeed_min * 0.5);
if ((quadplane.options & QuadPlane::OPTION_TRANS_FAIL_TO_FW) && tiltrotor_with_ground_speed) {
transition_state = TRANSITION_TIMER;
in_forced_transition = true;
} else {
switch (QuadPlane::TRANS_FAIL::ACTION(quadplane.transition_failure.action)) {
case QuadPlane::TRANS_FAIL::ACTION::QLAND:
plane.set_mode(plane.mode_qland, ModeReason::VTOL_FAILED_TRANSITION);
break;
case QuadPlane::TRANS_FAIL::ACTION::QRTL:
plane.set_mode(plane.mode_qrtl, ModeReason::VTOL_FAILED_TRANSITION);
quadplane.poscontrol.set_state(QuadPlane::QPOS_POSITION1);
break;
default:
break;
}
}
} else {
plane.set_mode(plane.mode_qland, ModeReason::VTOL_FAILED_TRANSITION);
}
quadplane.transition_failure.warned = false;
}
transition_low_airspeed_ms = now;

13
ArduPlane/quadplane.h
View File

@ -278,8 +278,17 @@ private:
// transition deceleration, m/s/s
AP_Float transition_decel;
// transition failure milliseconds
AP_Int16 transition_failure;
// transition failure handling
struct TRANS_FAIL {
enum ACTION {
QLAND,
QRTL
};
AP_Int16 timeout;
AP_Enum<ACTION> action;
bool warned;
} transition_failure;
// Quadplane trim, degrees
AP_Float ahrs_trim_pitch;