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Plane: support vectored yaw tiltrotors

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this adds support for tiltrotors which control yaw by vectoring the
forward motors. This avoids the need for the rear motor on a
tilt-tricopter to have a tilt servo
This commit is contained in:
Andrew Tridgell 2017-04-23 11:35:25 +10:00
parent fedabd1ace
commit b1f1ace736
4 changed files with 55 additions and 3 deletions
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17
ArduPlane/quadplane.cpp
View File

@ -330,8 +330,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: TILT_TYPE
// @DisplayName: Tiltrotor type
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE
// @Values: 0:Continuous,1:Binary
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover
// @Values: 0:Continuous,1:Binary,2:VectoredYaw
AP_GROUPINFO("TILT_TYPE", 47, QuadPlane, tilt.tilt_type, TILT_TYPE_CONTINUOUS),
// @Param: TAILSIT_ANGLE
@ -380,6 +380,12 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Range: 0 1
// @Increment: 0.01
AP_GROUPINFO("TAILSIT_VHGAIN", 54, QuadPlane, tailsitter.vectored_hover_gain, 0.5),
// @Param: TILT_YAW_ANGLE
// @DisplayName: Tilt minimum angle for vectored yaw
// @Description: This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.
// @Range: 0 30
AP_GROUPINFO("TILT_YAW_ANGLE", 55, QuadPlane, tilt.tilt_yaw_angle, 0),
AP_GROUPEND
};
@ -587,6 +593,13 @@ bool QuadPlane::setup(void)
transition_state = TRANSITION_DONE;
if (tilt.tilt_mask != 0 && tilt.tilt_type == TILT_TYPE_VECTORED_YAW) {
// setup tilt servos for vectored yaw
SRV_Channels::set_range(SRV_Channel::k_tiltMotorLeft, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRight, 1000);
}
setup_defaults();
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "QuadPlane initialised");

6
ArduPlane/quadplane.h
View File

@ -332,7 +332,9 @@ private:
uint32_t last_ctrl_log_ms;
// types of tilt mechanisms
enum {TILT_TYPE_CONTINUOUS=0, TILT_TYPE_BINARY=1};
enum {TILT_TYPE_CONTINUOUS=0,
TILT_TYPE_BINARY=1,
TILT_TYPE_VECTORED_YAW=2};
// tiltrotor control variables
struct {
@ -341,6 +343,7 @@ private:
AP_Int16 max_rate_down_dps;
AP_Int8 max_angle_deg;
AP_Int8 tilt_type;
AP_Float tilt_yaw_angle;
float current_tilt;
float current_throttle;
bool motors_active:1;
@ -383,6 +386,7 @@ private:
void tiltrotor_update(void);
void tiltrotor_continuous_update(void);
void tiltrotor_binary_update(void);
void tiltrotor_vectored_yaw(void);
void tilt_compensate_up(float *thrust, uint8_t num_motors);
void tilt_compensate_down(float *thrust, uint8_t num_motors);
void tilt_compensate(float *thrust, uint8_t num_motors);

3
ArduPlane/tailsitter.cpp
View File

@ -39,6 +39,9 @@ bool QuadPlane::tailsitter_active(void)
*/
void QuadPlane::tailsitter_output(void)
{
if (!is_tailsitter()) {
return;
}
if (!tailsitter_active()) {
if (tailsitter.vectored_forward_gain > 0) {
// thrust vectoring in fixed wing flight

32
ArduPlane/tiltrotor.cpp
View File

@ -176,11 +176,16 @@ void QuadPlane::tiltrotor_update(void)
// no motors to tilt
return;
}
if (tilt.tilt_type == TILT_TYPE_BINARY) {
tiltrotor_binary_update();
} else {
tiltrotor_continuous_update();
}
if (tilt.tilt_type == TILT_TYPE_VECTORED_YAW) {
tiltrotor_vectored_yaw();
}
}
@ -331,3 +336,30 @@ bool QuadPlane::tiltrotor_fully_fwd(void)
}
return (tilt.current_tilt >= 1);
}
/*
control vectored yaw with tilt multicopters
*/
void QuadPlane::tiltrotor_vectored_yaw(void)
{
// total angle the tilt can go through
float total_angle = 90 + tilt.tilt_yaw_angle;
// output value (0 to 1) to get motors pointed straight up
float zero_out = tilt.tilt_yaw_angle / total_angle;
// calculate the basic tilt amount from current_tilt
float base_output = zero_out + (tilt.current_tilt * (1 - zero_out));
float tilt_threshold = (tilt.max_angle_deg/90.0f);
bool no_yaw = (tilt.current_tilt > tilt_threshold);
if (no_yaw) {
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 1000 * base_output);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 1000 * base_output);
} else {
float yaw_out = motors->get_yaw();
float yaw_range = zero_out;
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 1000 * (base_output + yaw_out * yaw_range));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 1000 * (base_output - yaw_out * yaw_range));
}
}