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Plane: support thrust vectoring in tailsitters

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adds Q_TAILSIT_VHGAIN and Q_TAILSIT_VFGAIN, allowing for thust
vectoring in both fixed wing and hover
This commit is contained in:
Andrew Tridgell 2017-04-10 10:01:58 +10:00
parent 37301f67a0
commit 642a6acfcb
3 changed files with 39 additions and 0 deletions
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14
ArduPlane/quadplane.cpp
View File

@ -366,6 +366,20 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Description: This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable. // @Description: This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.
// @Values: 0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8 // @Values: 0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8
AP_GROUPINFO("TAILSIT_MASKCH", 52, QuadPlane, tailsitter.input_mask_chan, 0), AP_GROUPINFO("TAILSIT_MASKCH", 52, QuadPlane, tailsitter.input_mask_chan, 0),
// @Param: TAILSIT_VFGAIN
// @DisplayName: Tailsitter vector thrust gain in forward flight
// @Description: This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter
// @Range: 0 1
// @Increment: 0.01
AP_GROUPINFO("TAILSIT_VFGAIN", 53, QuadPlane, tailsitter.vectored_forward_gain, 0),
// @Param: TAILSIT_VHGAIN
// @DisplayName: Tailsitter vector thrust gain in hover
// @Description: This controls the amount of vectored thrust control used in hover for a vectored tailsitter
// @Range: 0 1
// @Increment: 0.01
AP_GROUPINFO("TAILSIT_VHGAIN", 54, QuadPlane, tailsitter.vectored_hover_gain, 0.5),
AP_GROUPEND AP_GROUPEND
}; };

2
ArduPlane/quadplane.h
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@ -358,6 +358,8 @@ private:
AP_Int8 input_type; AP_Int8 input_type;
AP_Int8 input_mask; AP_Int8 input_mask;
AP_Int8 input_mask_chan; AP_Int8 input_mask_chan;
AP_Float vectored_forward_gain;
AP_Float vectored_hover_gain;
} tailsitter; } tailsitter;
// the attitude view of the VTOL attitude controller // the attitude view of the VTOL attitude controller

23
ArduPlane/tailsitter.cpp
View File

@ -40,6 +40,18 @@ bool QuadPlane::tailsitter_active(void)
void QuadPlane::tailsitter_output(void) void QuadPlane::tailsitter_output(void)
{ {
if (!tailsitter_active()) { if (!tailsitter_active()) {
if (tailsitter.vectored_forward_gain > 0) {
// thrust vectoring in fixed wing flight
float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
float tilt_left = (elevator + aileron) * tailsitter.vectored_forward_gain;
float tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain;
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 0);
}
return; return;
} }
@ -47,6 +59,17 @@ void QuadPlane::tailsitter_output(void)
plane.pitchController.reset_I(); plane.pitchController.reset_I();
plane.rollController.reset_I(); plane.rollController.reset_I();
if (tailsitter.vectored_hover_gain > 0) {
// thrust vectoring VTOL modes
float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
float tilt_left = (elevator + aileron) * tailsitter.vectored_hover_gain;
float tilt_right = (elevator - aileron) * tailsitter.vectored_hover_gain;
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
}
if (tailsitter.input_mask_chan > 0 && if (tailsitter.input_mask_chan > 0 &&
tailsitter.input_mask > 0 && tailsitter.input_mask > 0 &&
hal.rcin->read(tailsitter.input_mask_chan-1) > 1700) { hal.rcin->read(tailsitter.input_mask_chan-1) > 1700) {