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Plane: added manual input mask for tailsitter prop-hang

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This adds new parameters Q_TAILSIT_MASK and Q_TAILSIT_MASKCH. These
parameters allow a user to use the tailsitter capabilities of a 3D
plane to teach themselves to prop-hang.

It works by allowing the user to setup a switch on their transmitter
to enable manual pass-thru of a set of the input channels to outputs
when in tailsitter hover. The user can then use that switch to allow
learning of hover control in a 3D plane one channel (or two channels)
at a time.
This commit is contained in:
Andrew Tridgell 2017-02-24 18:02:34 +11:00
parent 3bb25eb194
commit c061d5615b
3 changed files with 45 additions and 4 deletions
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12
ArduPlane/quadplane.cpp
View File

@ -355,6 +355,18 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Values: 0:MultiCopterInput,1:FixedWingInput
AP_GROUPINFO("TAILSIT_INPUT", 50, QuadPlane, tailsitter.input_type, TAILSITTER_INPUT_MULTICOPTER),
// @Param: TAILSIT_MASK
// @DisplayName: Tailsitter input mask
// @Description: This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.
// @Bitmask: 0:Aileron,1:Elevator,2:Throttle,3:Rudder
AP_GROUPINFO("TAILSIT_MASK", 51, QuadPlane, tailsitter.input_mask, 0),
// @Param: TAILSIT_MASKCH
// @DisplayName: Tailsitter input mask channel
// @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
AP_GROUPINFO("TAILSIT_MASKCH", 52, QuadPlane, tailsitter.input_mask_chan, 0),
AP_GROUPEND
};

9
ArduPlane/quadplane.h
View File

@ -335,11 +335,20 @@ private:
TAILSITTER_INPUT_MULTICOPTER = 0,
TAILSITTER_INPUT_PLANE = 1,
};
enum tailsitter_mask {
TAILSITTER_MASK_AILERON = 1,
TAILSITTER_MASK_ELEVATOR = 2,
TAILSITTER_MASK_THROTTLE = 4,
TAILSITTER_MASK_RUDDER = 8,
};
// tailsitter control variables
struct {
AP_Int8 transition_angle;
AP_Int8 input_type;
AP_Int8 input_mask;
AP_Int8 input_mask_chan;
} tailsitter;
// the attitude view of the VTOL attitude controller

28
ArduPlane/tailsitter.cpp
View File

@ -39,10 +39,30 @@ bool QuadPlane::tailsitter_active(void)
*/
void QuadPlane::tailsitter_output(void)
{
if (tailsitter_active()) {
motors_output();
plane.pitchController.reset_I();
plane.rollController.reset_I();
if (!tailsitter_active()) {
return;
}
motors_output();
plane.pitchController.reset_I();
plane.rollController.reset_I();
if (tailsitter.input_mask_chan > 0 &&
tailsitter.input_mask > 0 &&
hal.rcin->read(tailsitter.input_mask_chan-1) > 1700) {
// the user is learning to prop-hang
if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) {
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
}
if (tailsitter.input_mask & TAILSITTER_MASK_ELEVATOR) {
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
}
if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.channel_throttle->get_control_in_zero_dz());
}
if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) {
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());
}
}
}