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Plane: added Q_TILT_RATE_UP and Q_TILT_RATE_DN as separate parameters

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allow control of tilt rate separately for UP and DOWN

always allow at least 90 degrees/second for switching to MANUAL
This commit is contained in:
Andrew Tridgell 2017-02-24 21:05:27 +11:00
parent ec15f0fee5
commit ea5186340b
3 changed files with 43 additions and 10 deletions
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19
ArduPlane/quadplane.cpp
View File

@ -270,14 +270,14 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @User: Standard
AP_GROUPINFO("TILT_MASK", 37, QuadPlane, tilt.tilt_mask, 0),
// @Param: TILT_RATE
// @DisplayName: Tiltrotor tilt rate
// @Description: This is the maximum speed at which the motor angle will change for a tiltrotor
// @Param: TILT_RATE_UP
// @DisplayName: Tiltrotor upwards tilt rate
// @Description: This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover
// @Units: degrees/second
// @Increment: 1
// @Range: 10 300
// @User: Standard
AP_GROUPINFO("TILT_RATE", 38, QuadPlane, tilt.max_rate_dps, 40),
AP_GROUPINFO("TILT_RATE_UP", 38, QuadPlane, tilt.max_rate_up_dps, 40),
// @Param: TILT_MAX
// @DisplayName: Tiltrotor maximum VTOL angle
@ -339,7 +339,16 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Description: This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.
// @Range: 5 80
AP_GROUPINFO("TAILSIT_ANGLE", 48, QuadPlane, tailsitter.transition_angle, 30),
// @Param: TILT_RATE_DN
// @DisplayName: Tiltrotor downwards tilt rate
// @Description: This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.
// @Units: degrees/second
// @Increment: 1
// @Range: 10 300
// @User: Standard
AP_GROUPINFO("TILT_RATE_DN", 49, QuadPlane, tilt.max_rate_down_dps, 0),
AP_GROUPEND
};

4
ArduPlane/quadplane.h
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@ -319,7 +319,8 @@ private:
// tiltrotor control variables
struct {
AP_Int16 tilt_mask;
AP_Int16 max_rate_dps;
AP_Int16 max_rate_up_dps;
AP_Int16 max_rate_down_dps;
AP_Int8 max_angle_deg;
AP_Int8 tilt_type;
float current_tilt;
@ -345,6 +346,7 @@ private:
void tiltrotor_binary_update(void);
void tilt_compensate(float *thrust, uint8_t num_motors);
bool tiltrotor_fully_fwd(void);
float tilt_max_change(bool up);
void afs_terminate(void);
bool guided_mode_enabled(void);

30
ArduPlane/tiltrotor.cpp
View File

@ -6,12 +6,30 @@
*/
/*
calculate maximum tilt change as a proportion from 0 to 1 of tilt
*/
float QuadPlane::tilt_max_change(bool up)
{
float rate;
if (up || tilt.max_rate_down_dps <= 0) {
rate = tilt.max_rate_up_dps;
} else {
rate = tilt.max_rate_down_dps;
}
if (plane.control_mode == MANUAL && tilt.tilt_type != TILT_TYPE_BINARY) {
// allow a minimum of 90 DPS in manual, to give fast control
rate = MAX(rate, 90);
}
return rate * plane.G_Dt / 90.0f;
}
/*
output a slew limited tiltrotor angle. tilt is from 0 to 1
*/
void QuadPlane::tiltrotor_slew(float newtilt)
{
float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
float max_change = tilt_max_change(newtilt<tilt.current_tilt);
tilt.current_tilt = constrain_float(newtilt, tilt.current_tilt-max_change, tilt.current_tilt+max_change);
// translate to 0..1000 range and output
@ -30,13 +48,15 @@ void QuadPlane::tiltrotor_continuous_update(void)
tilt.motors_active = false;
// the maximum rate of throttle change
float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
float max_change;
if (!in_vtol_mode() && !assisted_flight) {
// we are in pure fixed wing mode. Move the tiltable motors all the way forward and run them as
// a forward motor
tiltrotor_slew(1);
max_change = tilt_max_change(false);
float new_throttle = constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01, 0, 1);
if (tilt.current_tilt < 1) {
tilt.current_throttle = constrain_float(new_throttle,
@ -58,7 +78,9 @@ void QuadPlane::tiltrotor_continuous_update(void)
}
// remember the throttle level we're using for VTOL flight
tilt.current_throttle = constrain_float(motors->get_throttle(),
float motors_throttle = motors->get_throttle();
max_change = tilt_max_change(motors_throttle<tilt.current_throttle);
tilt.current_throttle = constrain_float(motors_throttle,
tilt.current_throttle-max_change,
tilt.current_throttle+max_change);
@ -106,7 +128,7 @@ void QuadPlane::tiltrotor_binary_slew(bool forward)
{
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, forward?1000:0);
float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
float max_change = tilt_max_change(!forward);
if (forward) {
tilt.current_tilt = constrain_float(tilt.current_tilt+max_change, 0, 1);
} else {