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AP_MotorsHeli: improve collective to yaw compensation

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Bill Geyer 2022-12-21 19:53:04 -05:00 committed by Bill Geyer
parent f742845552
commit 93b0519ad2
2 changed files with 16 additions and 13 deletions
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25
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -46,13 +46,7 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// Index 7 was used for phase angle and should not be used
// @Param: COLYAW
// @DisplayName: Collective-Yaw Mixing
// @Description: Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
// @Range: -10 10
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("COLYAW", 8, AP_MotorsHeli_Single, _collective_yaw_effect, 0),
// Indice 8 was used by COLYAW and should not be used
// @Param: FLYBAR_MODE
// @DisplayName: Flybar Mode Selector
@ -135,6 +129,14 @@ const AP_Param::GroupInfo AP_MotorsHeli_Single::var_info[] = {
// @Increment: 1
AP_SUBGROUPINFO(_swashplate, "SW_", 20, AP_MotorsHeli_Single, AP_MotorsHeli_Swash),
// @Param: COL2YAW
// @DisplayName: Collective-Yaw Mixing
// @Description: Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
// @Range: -2 2
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("COL2YAW", 21, AP_MotorsHeli_Single, _collective_yaw_scale, 0),
AP_GROUPEND
};
@ -466,10 +468,11 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
// the feed-forward is not required when the motor is stopped or at idle, and thus not creating torque
// also not required if we are using external gyro
if ((_main_rotor.get_control_output() > _main_rotor.get_idle_output()) && _tail_type != AP_MOTORS_HELI_SINGLE_TAILTYPE_SERVO_EXTGYRO) {
// sanity check collective_yaw_effect
_collective_yaw_effect.set(constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
// the 4.5 scaling factor is to bring the values in line with previous releases
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_thrust_pct) / 4.5f;
// sanity check collective_yaw_scale
_collective_yaw_scale.set(constrain_float(_collective_yaw_scale, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE));
// This feedforward compensation follows the hover performance theory that hover power required
// is a function of gross weight to the 3/2 power
yaw_offset = _collective_yaw_scale * powf(fabsf(collective_out - _collective_zero_thrust_pct),1.5f);
}
} else {
yaw_offset = 0.0f;

4
libraries/AP_Motors/AP_MotorsHeli_Single.h
View File

@ -29,7 +29,7 @@
#define AP_MOTORS_HELI_SINGLE_EXT_GYRO_GAIN 350
// COLYAW parameter min and max values
#define AP_MOTORS_HELI_SINGLE_COLYAW_RANGE 10.0f
#define AP_MOTORS_HELI_SINGLE_COLYAW_RANGE 5.0f
// maximum number of swashplate servos
#define AP_MOTORS_HELI_SINGLE_NUM_SWASHPLATE_SERVOS 3
@ -140,9 +140,9 @@ protected:
AP_Int16 _tail_type; // Tail type used: Servo, Servo with external gyro, direct drive variable pitch or direct drive fixed pitch
AP_Int16 _ext_gyro_gain_std; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro
AP_Int16 _ext_gyro_gain_acro; // PWM sent to external gyro on ch7 when tail type is Servo w/ ExtGyro in ACRO
AP_Float _collective_yaw_effect; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
AP_Int8 _flybar_mode; // Flybar present or not. Affects attitude controller used during ACRO flight mode
AP_Int16 _direct_drive_tailspeed; // Direct Drive VarPitch Tail ESC speed (0 ~ 1000)
AP_Float _collective_yaw_scale; // Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.
bool _acro_tail = false;
};