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Plane: quadplane: move tailsitter items to dedicated setup

This commit is contained in:
Iampete1 2021-08-22 10:25:41 +01:00 committed by Andrew Tridgell
parent 5f980929d9
commit 46670f7bd0
3 changed files with 50 additions and 37 deletions
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38
ArduPlane/quadplane.cpp
View File

@ -502,23 +502,6 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "Q_WP_ACCEL", 100 },
};
/*
extra defaults for tailsitters
*/
static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[] = {
{ "KFF_RDDRMIX", 0.02 },
{ "Q_A_RAT_PIT_FF", 0.2 },
{ "Q_A_RAT_YAW_FF", 0.2 },
{ "Q_A_RAT_YAW_I", 0.18 },
{ "Q_A_ANGLE_BOOST", 0 },
{ "LIM_PITCH_MAX", 3000 },
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
{ "RUDD_DT_GAIN", 10 },
{ "Q_TRANSITION_MS", 2000 },
{ "Q_TRANS_DECEL", 6 },
};
/*
conversion table for quadplane parameters
*/
@ -664,11 +647,6 @@ bool QuadPlane::setup(void)
AP_BoardConfig::config_error("Unsupported Q_FRAME_CLASS %u", frame_class);
}
// Set tailsitter enable flag based on old heuristics
if (!tailsitter.enable.configured() && (((frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) || (tailsitter.motor_mask != 0)) && (tilt.tilt_type != TILT_TYPE_BICOPTER))) {
tailsitter.enable.set_and_save(1);
}
// Make sure not both a tailsiter and tiltrotor
if (tailsitter.enabled() && (tilt.tilt_mask != 0)) {
AP_BoardConfig::config_error("set TAILSIT_ENABLE 0 or TILT_MASK 0");
@ -746,13 +724,6 @@ bool QuadPlane::setup(void)
attitude_control->parameter_sanity_check();
wp_nav->wp_and_spline_init();
// TODO: update this if servo function assignments change
// used by relax_attitude_control() to control special behavior for vectored tailsitters
tailsitter._is_vectored = (frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) &&
(!is_zero(tailsitter.vectored_hover_gain) &&
(SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorLeft) ||
SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorRight)));
// setup the trim of any motors used by AP_Motors so I/O board
// failsafe will disable motors
for (uint8_t i=0; i<8; i++) {
@ -784,10 +755,7 @@ bool QuadPlane::setup(void)
AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
// Set tailsitter transition rate to match old caculation
if (!tailsitter.transition_rate_fw.configured()) {
tailsitter.transition_rate_fw.set_and_save(tailsitter.transition_angle_fw / (transition_time_ms/2000.0f));
}
tailsitter.setup();
// param count will have changed
AP_Param::invalidate_count();
@ -804,10 +772,6 @@ void QuadPlane::setup_defaults(void)
{
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
if (frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
}
// reset ESC calibration
if (esc_calibration != 0) {
esc_calibration.set_and_save(0);

47
ArduPlane/tailsitter.cpp
View File

@ -135,11 +135,58 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
AP_GROUPEND
};
/*
defaults for tailsitters
*/
static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[] = {
{ "KFF_RDDRMIX", 0.02 },
{ "Q_A_RAT_PIT_FF", 0.2 },
{ "Q_A_RAT_YAW_FF", 0.2 },
{ "Q_A_RAT_YAW_I", 0.18 },
{ "Q_A_ANGLE_BOOST", 0 },
{ "LIM_PITCH_MAX", 3000 },
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
{ "RUDD_DT_GAIN", 10 },
{ "Q_TRANSITION_MS", 2000 },
{ "Q_TRANS_DECEL", 6 },
};
Tailsitter::Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors):quadplane(_quadplane),motors(_motors)
{
AP_Param::setup_object_defaults(this, var_info);
}
void Tailsitter::setup()
{
// Set tailsitter enable flag based on old heuristics
if (!enable.configured() && (((quadplane.frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) || (motor_mask != 0)) && (quadplane.tilt.tilt_type != QuadPlane::TILT_TYPE_BICOPTER))) {
enable.set_and_save(1);
}
if (!enabled()) {
return;
}
// Set tailsitter transition rate to match old calculation
if (!transition_rate_fw.configured()) {
transition_rate_fw.set_and_save(transition_angle_fw / (quadplane.transition_time_ms/2000.0f));
}
// TODO: update this if servo function assignments change
// used by relax_attitude_control() to control special behavior for vectored tailsitters
_is_vectored = (quadplane.frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) &&
(!is_zero(vectored_hover_gain) &&
(SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorLeft) ||
SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorRight)));
// set defaults for dual/single motor tailsitter
if (quadplane.frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
}
}
/*
return true when flying a control surface only tailsitter
*/

2
ArduPlane/tailsitter.h
View File

@ -27,6 +27,8 @@ public:
bool enabled() const { return enable > 0;}
void setup();
// return true when flying a control surface only tailsitter
bool is_control_surface_tailsitter(void) const;