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AP_MotorsHeli: add support for manual autorotation

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AP_MotorsHeli: fix runup from idle bug

AP_MotorsHeli: don't let rotor_runup_output go below critical speed in autorotation

AP_MotorsHeli: set autorototate flag false after landing
This commit is contained in:
Bill Geyer 2023-01-18 23:31:32 -05:00 committed by Bill Geyer
parent 562050a800
commit a27ccb8294
3 changed files with 50 additions and 18 deletions
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3
libraries/AP_Motors/AP_MotorsHeli.h
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@ -87,6 +87,9 @@ public:
// get_rsc_setpoint - gets contents of _rsc_setpoint parameter (0~1)
float get_rsc_setpoint() const { return _main_rotor._rsc_setpoint.get() * 0.01f; }
// arot_man_enabled - gets contents of manual_autorotation_enabled parameter
bool arot_man_enabled() const { return (_main_rotor._rsc_arot_man_enable.get() == 1) ? true : false; }
// set_desired_rotor_speed - sets target rotor speed as a number from 0 ~ 1
virtual void set_desired_rotor_speed(float desired_speed) = 0;

57
libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
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@ -200,14 +200,21 @@ const AP_Param::GroupInfo AP_MotorsHeli_RSC::var_info[] = {
// @User: Standard
AP_GROUPINFO("GOV_TORQUE", 24, AP_MotorsHeli_RSC, _governor_torque, 30),
// @Param: BLOUT_TIME
// @Param: AROT_ENG_T
// @DisplayName: Time for in-flight power re-engagement
// @Description: amount of seconds to move throttle output from idle to throttle curve position during manual autorotations
// @Range: 0 10
// @Units: %
// @Increment: 0.5
// @User: Standard
AP_GROUPINFO("BLOUT_TIME", 25, AP_MotorsHeli_RSC, _rsc_bailout_time, AP_MOTORS_HELI_RSC_BAILOUT_TIME),
AP_GROUPINFO("AROT_ENG_T", 25, AP_MotorsHeli_RSC, _rsc_arot_engage_time, AP_MOTORS_HELI_RSC_AROT_ENGAGE_TIME),
// @Param: AROT_MN_EN
// @DisplayName: Enable Manual Autorotations
// @Description: Allows you to enable (1) or disable (0) the manual autorotation capability.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("AROT_MN_EN", 26, AP_MotorsHeli_RSC, _rsc_arot_man_enable, 0),
AP_GROUPEND
};
@ -284,6 +291,9 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_starting = true;
_autorotating = false;
_bailing_out = false;
// ensure _idle_throttle not set to invalid value
_idle_throttle = get_idle_output();
break;
case ROTOR_CONTROL_IDLE:
@ -296,50 +306,59 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
_governor_fault = false;
if (_in_autorotation) {
// if in autorotation and using an external governor, set the output to tell the governor to use bailout ramp
_control_output = constrain_float( _ext_gov_arot_pct/100.0f , 0.0f, 0.4f);
_idle_throttle = constrain_float( _ext_gov_arot_pct/100.0f , 0.0f, 0.4f);
if(!_autorotating){
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
_autorotating =true;
}
} else {
if(_autorotating){
gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
_autorotating =false;
}
// set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
if (_turbine_start && _starting == true ) {
_control_output += 0.001f;
_idle_throttle += 0.001f;
if (_control_output >= 1.0f) {
_control_output = get_idle_output();
_idle_throttle = get_idle_output();
gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
_starting = false;
}
} else{
if (_cooldown_time > 0) {
_control_output = get_idle_output() * 1.5f;
_idle_throttle = get_idle_output() * 1.5f;
_fast_idle_timer += dt;
if (_fast_idle_timer > (float)_cooldown_time) {
_fast_idle_timer = 0.0f;
}
} else {
_control_output = get_idle_output();
_idle_throttle = get_idle_output();
}
_use_bailout_ramp = false;
}
}
_control_output = _idle_throttle;
break;
case ROTOR_CONTROL_ACTIVE:
// set main rotor ramp to increase to full speed
update_rotor_ramp(1.0f, dt);
// ensure _idle_throttle not set to invalid value due to premature switch out of turbine start
if (_starting) {
_idle_throttle = get_idle_output();
}
// if turbine engine started without using start sequence, set starting flag just to be sure it can't be triggered when back in idle
_starting = false;
_autorotating = false;
if ((_control_mode == ROTOR_CONTROL_MODE_PASSTHROUGH) || (_control_mode == ROTOR_CONTROL_MODE_SETPOINT)) {
// set control rotor speed to ramp slewed value between idle and desired speed
_control_output = get_idle_output() + (_rotor_ramp_output * (_desired_speed - get_idle_output()));
_control_output = _idle_throttle + (_rotor_ramp_output * (_desired_speed - _idle_throttle));
} else if (_control_mode == ROTOR_CONTROL_MODE_THROTTLECURVE) {
// throttle output from throttle curve based on collective position
float throttlecurve = calculate_throttlecurve(_collective_in);
_control_output = get_idle_output() + (_rotor_ramp_output * (throttlecurve - get_idle_output()));
_control_output = _idle_throttle + (_rotor_ramp_output * (throttlecurve - _idle_throttle));
} else if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {
autothrottle_run();
}
@ -371,10 +390,10 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
ramp_time = _ramp_time;
}
if (_rsc_bailout_time <= 0) {
if (_rsc_arot_engage_time <= 0) {
bailout_time = 1;
} else {
bailout_time = _rsc_bailout_time;
bailout_time = _rsc_arot_engage_time;
}
// ramp output upwards towards target
@ -423,8 +442,16 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
_rotor_runup_output = _rotor_ramp_output;
}
}else{
_rotor_runup_output -= runup_increment;
if (_rotor_runup_output < _rotor_ramp_output) {
_rotor_runup_output = _rotor_ramp_output;
}
}
// if in autorotation, don't let rotor_runup_output go less than critical speed to keep
// runup complete flag from being set to false
if (_autorotating && _rotor_runup_output < get_critical_speed()) {
_rotor_runup_output = get_critical_speed();
}
// update run-up complete flag
@ -440,7 +467,7 @@ void AP_MotorsHeli_RSC::update_rotor_runup(float dt)
}
// if rotor speed is less than critical speed, then run-up is not complete
// this will prevent the case where the target rotor speed is less than critical speed
if (_runup_complete && (get_rotor_speed() <= get_critical_speed())) {
if (_runup_complete && (get_rotor_speed() < get_critical_speed())) {
_runup_complete = false;
}
// if rotor estimated speed is zero, then spooldown has been completed
@ -489,7 +516,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
// if the desired governor RPM is zero, use the throttle curve only and exit
if (_governor_rpm == 0) {
_control_output = get_idle_output() + (_rotor_ramp_output * (throttlecurve - get_idle_output()));
_control_output = _idle_throttle + (_rotor_ramp_output * (throttlecurve - _idle_throttle));
return;
}
@ -545,11 +572,11 @@ void AP_MotorsHeli_RSC::autothrottle_run()
// temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed
_governor_output = 0.0f;
}
_control_output = constrain_float(get_idle_output() + (_rotor_ramp_output * (throttlecurve + _governor_output - get_idle_output())), 0.0f, 1.0f);
_control_output = constrain_float(_idle_throttle + (_rotor_ramp_output * (throttlecurve + _governor_output - _idle_throttle)), 0.0f, 1.0f);
_governor_torque_reference = _control_output; // increment torque setting to be passed to main power loop
} else {
// failsafe - if governor has faulted use throttle curve
_control_output = get_idle_output() + (_rotor_ramp_output * (throttlecurve - get_idle_output()));
_control_output = _idle_throttle + (_rotor_ramp_output * (throttlecurve - _idle_throttle));
}
}

6
libraries/AP_Motors/AP_MotorsHeli_RSC.h
View File

@ -17,7 +17,7 @@
// default main rotor ramp up time in seconds
#define AP_MOTORS_HELI_RSC_RAMP_TIME 1 // 1 second to ramp output to main rotor ESC to setpoint
#define AP_MOTORS_HELI_RSC_RUNUP_TIME 10 // 10 seconds for rotor to reach full speed
#define AP_MOTORS_HELI_RSC_BAILOUT_TIME 1 // time in seconds to ramp motors when bailing out of autorotation
#define AP_MOTORS_HELI_RSC_AROT_ENGAGE_TIME 1 // time in seconds to ramp motors when bailing out of autorotation
#define AP_MOTORS_HELI_RSC_AROT_PCT 0
// Throttle Curve Defaults
@ -130,7 +130,8 @@ public:
AP_Int16 _critical_speed; // Rotor speed below which flight is not possible
AP_Int16 _idle_output; // Rotor control output while at idle
AP_Int16 _ext_gov_arot_pct; // Percent value sent to external governor when in autorotation
AP_Int8 _rsc_bailout_time; // time in seconds for power recovery
AP_Int8 _rsc_arot_engage_time; // time in seconds for in-flight power re-engagement
AP_Int8 _rsc_arot_man_enable; // enables manual autorotation
private:
uint64_t _last_update_us;
@ -164,6 +165,7 @@ private:
float _governor_torque_reference; // governor reference for load calculations
bool _autorotating;
bool _bailing_out;
float _idle_throttle;
// update_rotor_ramp - slews rotor output scalar between 0 and 1, outputs float scalar to _rotor_ramp_output
void update_rotor_ramp(float rotor_ramp_input, float dt);