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AP_Motors: multicopter apply diffential thrust in forward flight

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IamPete1 2018-12-29 15:44:33 +00:00 committed by Andrew Tridgell
parent c82f158b56
commit c26948ef59
2 changed files with 10 additions and 3 deletions
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11
libraries/AP_Motors/AP_MotorsMulticopter.cpp
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@ -626,13 +626,20 @@ void AP_MotorsMulticopter::set_throttle_passthrough_for_esc_calibration(float th
// output a thrust to all motors that match a given motor mask. This // output a thrust to all motors that match a given motor mask. This
// is used to control tiltrotor motors in forward flight. Thrust is in // is used to control tiltrotor motors in forward flight. Thrust is in
// the range 0 to 1 // the range 0 to 1
void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask) void AP_MotorsMulticopter::output_motor_mask(float thrust, uint8_t mask, float rudder_dt)
{ {
for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) { for (uint8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++) {
if (motor_enabled[i]) { if (motor_enabled[i]) {
int16_t motor_out; int16_t motor_out;
if (mask & (1U<<i)) { if (mask & (1U<<i)) {
motor_out = calc_thrust_to_pwm(thrust); /*
apply rudder mixing differential thrust
copter frame roll is plane frame yaw as this only
apples to either tilted motors or tailsitters
*/
float diff_thrust = get_roll_factor(i) * rudder_dt * 0.5f;
motor_out = calc_thrust_to_pwm(thrust + diff_thrust);
} else { } else {
motor_out = get_pwm_output_min(); motor_out = get_pwm_output_min();
} }

2
libraries/AP_Motors/AP_MotorsMulticopter.h
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@ -84,7 +84,7 @@ public:
// output a thrust to all motors that match a given motor // output a thrust to all motors that match a given motor
// mask. This is used to control tiltrotor motors in forward // mask. This is used to control tiltrotor motors in forward
// flight. Thrust is in the range 0 to 1 // flight. Thrust is in the range 0 to 1
virtual void output_motor_mask(float thrust, uint8_t mask); virtual void output_motor_mask(float thrust, uint8_t mask, float rudder_dt);
// get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used) // get_motor_mask - returns a bitmask of which outputs are being used for motors (1 means being used)
// this can be used to ensure other pwm outputs (i.e. for servos) do not conflict // this can be used to ensure other pwm outputs (i.e. for servos) do not conflict