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Plane: QuadPlane: tailsitter param conversion, set and use new enable param

This commit is contained in:
Iampete1 2021-07-14 21:28:41 +01:00 committed by Andrew Tridgell
parent 0eab3faf32
commit beefd95079
1 changed files with 42 additions and 31 deletions
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73
ArduPlane/quadplane.cpp
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@ -547,6 +547,24 @@ const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_q_attitude_control, 449, AP_PARAM_FLOAT, "Q_A_RAT_RLL_FF" }, // Q_A_RAT_RLL_FF
{ Parameters::k_param_q_attitude_control, 450, AP_PARAM_FLOAT, "Q_A_RAT_PIT_FF" }, // Q_A_RAT_PIT_FF
{ Parameters::k_param_q_attitude_control, 451, AP_PARAM_FLOAT, "Q_A_RAT_YAW_FF" }, // Q_A_RAT_YAW_FILT
// tailsitter params have moved but retain the same names
{ Parameters::k_param_quadplane, 48, AP_PARAM_INT8, "Q_TAILSIT_ANGLE" },
{ Parameters::k_param_quadplane, 61, AP_PARAM_INT8, "Q_TAILSIT_ANG_VT" },
{ Parameters::k_param_quadplane, 50, AP_PARAM_INT8, "Q_TAILSIT_INPUT" },
{ Parameters::k_param_quadplane, 51, AP_PARAM_INT8, "Q_TAILSIT_MASK" },
{ Parameters::k_param_quadplane, 52, AP_PARAM_INT8, "Q_TAILSIT_MASKCH" },
{ Parameters::k_param_quadplane, 53, AP_PARAM_FLOAT, "Q_TAILSIT_VFGAIN" },
{ Parameters::k_param_quadplane, 54, AP_PARAM_FLOAT, "Q_TAILSIT_VHGAIN" },
{ Parameters::k_param_quadplane, 56, AP_PARAM_FLOAT, "Q_TAILSIT_VHPOW" },
{ Parameters::k_param_quadplane, 251, AP_PARAM_FLOAT, "Q_TAILSIT_GSCMAX" },
{ Parameters::k_param_quadplane, 379, AP_PARAM_FLOAT, "Q_TAILSIT_RLL_MX" },
{ Parameters::k_param_quadplane, 635, AP_PARAM_INT16, "Q_TAILSIT_MOTMX" },
{ Parameters::k_param_quadplane, 1147, AP_PARAM_INT16, "Q_TAILSIT_GSCMSK" },
{ Parameters::k_param_quadplane, 1211, AP_PARAM_FLOAT, "Q_TAILSIT_GSCMIN" },
{ Parameters::k_param_quadplane, 1403, AP_PARAM_FLOAT, "Q_TAILSIT_DSKLD" },
{ Parameters::k_param_quadplane, 1595, AP_PARAM_FLOAT, "Q_TAILSIT_RAT_FW" },
{ Parameters::k_param_quadplane, 1659, AP_PARAM_FLOAT, "Q_TAILSIT_RAT_FW" },
};
@ -582,8 +600,6 @@ bool QuadPlane::setup(void)
}
float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
enum Rotation rotation = ROTATION_NONE;
/*
cope with upgrade from old AP_Motors values for frame_class
*/
@ -651,41 +667,36 @@ bool QuadPlane::setup(void)
AP_BoardConfig::config_error("Unsupported Q_FRAME_CLASS %u", frame_class);
}
if (tailsitter.motor_mask == 0) {
// this is a normal quadplane
switch ((AP_Motors::motor_frame_class)frame_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;
if (tilt.tilt_type != TILT_TYPE_BICOPTER) {
rotation = ROTATION_PITCH_90;
}
break;
case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
// 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");
}
switch ((AP_Motors::motor_frame_class)frame_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
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info;
break;
case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
#ifdef ENABLE_SCRIPTING
motors = new AP_MotorsMatrix_Scripting_Dynamic(plane.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info;
#endif // ENABLE_SCRIPTING
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) {
gcs().send_text(MAV_SEVERITY_ERROR, "Warning: Motor tilt not supported\n");
}
rotation = ROTATION_PITCH_90;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
if (!motors) {
@ -695,7 +706,7 @@ bool QuadPlane::setup(void)
AP_Param::load_object_from_eeprom(motors, motors_var_info);
// create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view(rotation, ahrs_trim_pitch);
ahrs_view = ahrs.create_view(tailsitter.enabled() ? ROTATION_PITCH_90 : ROTATION_NONE, ahrs_trim_pitch);
if (ahrs_view == nullptr) {
AP_BoardConfig::config_error("Unable to allocate %s", "ahrs_view");
}