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ArduPlane:add subclass for copter tailsitters

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cleanup and add tailsit_motmx
add constexpr and motor mask check
add support for tricopter tailsitter
don't call output_motor_mask unless armed
fix whitespace
This commit is contained in:
Mark Whitehorn 2019-01-17 10:54:15 -07:00 committed by Randy Mackay
parent 4f69eefd4a
commit 6e4a2b97f9
3 changed files with 67 additions and 23 deletions
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50
ArduPlane/quadplane.cpp
View File

@ -402,6 +402,13 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @User: Advanced
AP_GROUPINFO("TRANS_FAIL", 8, QuadPlane, transition_failure, 0),
// @Param: TAILSIT_MOTMX
// @DisplayName: Tailsiter mask
// @Description: Bitmask of motors to remain active in forward flight for a 'copter' tailsitter. Non-zero indicates airframe is a tailsitter which pitches forward 90 degrees in forward flight modes.
// @User: Standard
// @Bitmask: 0:Motor 1,1:Motor 2,2:Motor 3,3:Motor 4, 4:Motor 5,5:Motor 6,6:Motor 7,7:Motor 8
AP_GROUPINFO("TAILSIT_MOTMX", 9, QuadPlane, tailsitter.motor_mask, 0),
AP_GROUPEND
};
@ -563,21 +570,36 @@ bool QuadPlane::setup(void)
break;
}
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info;
if (tailsitter.motor_mask == 0) {
// this is a normal quadplane
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
// this is a duo-motor tailsitter (vectored thrust if tilt.tilt_mask != 0)
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info;
rotation = ROTATION_PITCH_90;
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
} else {
// this is a copter tailsitter with motor layout specified by frame_class and frame_type
// tilting motors are not supported (tiltrotor control variables are ignored)
if (tilt.tilt_mask != 0) {
hal.console->printf("Warning tilting motors not supported, setting tilt_mask to zero\n");
tilt.tilt_mask.set(0);
}
rotation = ROTATION_PITCH_90;
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
motors = new AP_MotorsMatrixTS(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrixTS::var_info;
}
const static char *strUnableToAllocate = "Unable to allocate";
if (!motors) {
hal.console->printf("%s motors\n", strUnableToAllocate);
@ -644,7 +666,7 @@ bool QuadPlane::setup(void)
setup_defaults();
AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised");
initialised = true;
return true;

1
ArduPlane/quadplane.h
View File

@ -432,6 +432,7 @@ private:
AP_Float vectored_hover_power;
AP_Float throttle_scale_max;
AP_Float max_roll_angle;
AP_Int16 motor_mask;
} tailsitter;
// the attitude view of the VTOL attitude controller

39
ArduPlane/tailsitter.cpp
View File

@ -14,6 +14,8 @@
*/
/*
control code for tailsitters. Enabled by setting Q_FRAME_CLASS=10
or by setting Q_TAILSIT_MOTMX nonzero and Q_FRAME_CLASS and Q_FRAME_TYPE
to a configuration supported by AP_MotorsMatrix
*/
#include "Plane.h"
@ -23,7 +25,8 @@
*/
bool QuadPlane::is_tailsitter(void) const
{
return available() && frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER;
return available() && ((frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) ||
(tailsitter.motor_mask != 0));
}
/*
@ -55,8 +58,11 @@ void QuadPlane::tailsitter_output(void)
float tilt_left = 0.0f;
float tilt_right = 0.0f;
uint16_t mask = tailsitter.motor_mask;
// handle forward flight modes and transition to VTOL modes
if (!tailsitter_active() || in_tailsitter_vtol_transition()) {
// in forward flight: set motor tilt servos and throttles using FW controller
if (tailsitter.vectored_forward_gain > 0) {
// thrust vectoring in fixed wing flight
float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
@ -66,23 +72,38 @@ void QuadPlane::tailsitter_output(void)
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
if (in_tailsitter_vtol_transition() && !throttle_wait && is_flying() && hal.util->get_soft_armed()) {
// get FW controller throttle demand and mask of motors enabled during forward flight
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
if (hal.util->get_soft_armed()) {
if (in_tailsitter_vtol_transition() && !throttle_wait && is_flying()) {
/*
during transitions to vtol mode set the throttle to the
hover throttle, and set the altitude controller
during transitions to vtol mode set the throttle to
hover thrust, center the rudder and set the altitude controller
integrator to the same throttle level
*/
uint8_t throttle = motors->get_throttle_hover() * 100;
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
throttle = motors->get_throttle_hover() * 100;
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
pos_control->get_accel_z_pid().set_integrator(throttle*10);
if (mask == 0) {
// override AP_MotorsTailsitter throttles during back transition
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
}
}
if (mask != 0) {
// set AP_MotorsMatrix throttles enabled for forward flight
motors->output_motor_mask(throttle * 0.01f, mask, plane.rudder_dt);
}
}
return;
}
// handle VTOL modes
// the MultiCopter rate controller has already been run in an earlier call
// to motors_output() from quadplane.update()
motors_output(false);
plane.pitchController.reset_I();
plane.rollController.reset_I();