forked from Archive/PX4-Autopilot
major cleanup of tiltrotor code
This commit is contained in:
tumbili
parent
4ecde8661f
commit
02fda7a0f5
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@ -45,9 +45,10 @@
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Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
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VtolType(attc),
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flag_max_mc(true),
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_rear_motors(ENABLED),
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_tilt_control(0.0f),
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_roll_weight_mc(1.0f)
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_roll_weight_mc(1.0f),
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_yaw_weight_mc(1.0f)
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{
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_vtol_schedule.flight_mode = MC_MODE;
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_vtol_schedule.transition_start = 0;
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@ -113,53 +114,61 @@ void Tiltrotor::update_vtol_state()
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* forward completely. For the backtransition the motors simply rotate back.
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*/
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if (_manual_control_sp->aux1 < 0.0f && _vtol_schedule.flight_mode == MC_MODE) {
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// mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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_roll_weight_mc = 1.0f;
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} else if (_manual_control_sp->aux1 < 0.0f && _vtol_schedule.flight_mode == FW_MODE) {
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_vtol_schedule.flight_mode = TRANSITION_BACK;
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flag_max_mc = true;
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_vtol_schedule.transition_start = hrt_absolute_time();
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} else if (_manual_control_sp->aux1 >= 0.0f && _vtol_schedule.flight_mode == MC_MODE) {
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// instant of doeing a front-transition
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
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_vtol_schedule.transition_start = hrt_absolute_time();
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1 && _manual_control_sp->aux1 > 0.0f) {
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// check if we have reached airspeed to switch to fw mode
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if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans) {
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
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flag_max_mc = true;
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_vtol_schedule.transition_start = hrt_absolute_time();
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if (_manual_control_sp->aux1 < 0.0f) {
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// plane is in multicopter mode
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switch (_vtol_schedule.flight_mode) {
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case MC_MODE:
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_tilt_control = _params_tiltrotor.tilt_mc;
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break;
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case FW_MODE:
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_vtol_schedule.flight_mode = TRANSITION_BACK;
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_vtol_schedule.transition_start = hrt_absolute_time();
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break;
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case TRANSITION_FRONT_P1:
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// failsafe into multicopter mode
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_vtol_schedule.flight_mode = MC_MODE;
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break;
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case TRANSITION_FRONT_P2:
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// failsafe into multicopter mode
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_vtol_schedule.flight_mode = MC_MODE;
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break;
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case TRANSITION_BACK:
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if (_tilt_control <= _params_tiltrotor.tilt_mc) {
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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}
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break;
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2 && _manual_control_sp->aux1 > 0.0f) {
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if (_tilt_control >= _params_tiltrotor.tilt_fw) {
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_vtol_schedule.flight_mode = FW_MODE;
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_tilt_control = _params_tiltrotor.tilt_fw;
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1 && _manual_control_sp->aux1 < 0.0f) {
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// failsave into mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2 && _manual_control_sp->aux1 < 0.0f) {
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// failsave into mc mode
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK && _manual_control_sp->aux1 < 0.0f) {
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if (_tilt_control <= _params_tiltrotor.tilt_mc) {
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_vtol_schedule.flight_mode = MC_MODE;
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_tilt_control = _params_tiltrotor.tilt_mc;
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flag_max_mc = false;
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}
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK && _manual_control_sp->aux1 > 0.0f) {
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// failsave into fw mode
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_vtol_schedule.flight_mode = FW_MODE;
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_tilt_control = _params_tiltrotor.tilt_fw;
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}
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// tilt rotors if necessary
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update_transition_state();
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} else {
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switch (_vtol_schedule.flight_mode) {
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case MC_MODE:
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// initialise a front transition
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
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_vtol_schedule.transition_start = hrt_absolute_time();
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break;
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case FW_MODE:
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_tilt_control = _params_tiltrotor.tilt_fw;
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break;
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case TRANSITION_FRONT_P1:
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// check if we have reached airspeed to switch to fw mode
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if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans) {
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
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_vtol_schedule.transition_start = hrt_absolute_time();
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}
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break;
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case TRANSITION_FRONT_P2:
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// if the rotors have been tilted completely we switch to fw mode
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if (_tilt_control >= _params_tiltrotor.tilt_fw) {
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_vtol_schedule.flight_mode = FW_MODE;
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_tilt_control = _params_tiltrotor.tilt_fw;
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}
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break;
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case TRANSITION_BACK:
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break;
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}
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}
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// map tiltrotor specific control phases to simple control modes
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switch(_vtol_schedule.flight_mode) {
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@ -180,9 +189,8 @@ void Tiltrotor::update_vtol_state()
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void Tiltrotor::update_mc_state()
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{
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// adjust max pwm for rear motors to spin up
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if (!flag_max_mc) {
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set_max_mc();
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flag_max_mc = true;
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if (_rear_motors != ENABLED) {
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set_rear_motor_state(ENABLED);
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}
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// set idle speed for rotary wing mode
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@ -192,25 +200,13 @@ void Tiltrotor::update_mc_state()
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}
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}
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void Tiltrotor::process_mc_data()
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{
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fill_att_control_output();
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}
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void Tiltrotor::update_fw_state()
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{
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/* in fw mode we need the rear motors to stop spinning, in backtransition
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* mode we let them spin in idle
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*/
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if (flag_max_mc) {
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if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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set_max_fw(1200);
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set_idle_mc();
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} else {
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set_max_fw(950);
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set_idle_fw();
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}
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flag_max_mc = false;
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if (_rear_motors != DISABLED) {
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set_rear_motor_state(DISABLED);
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}
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// adjust idle for fixed wing flight
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@ -220,45 +216,50 @@ void Tiltrotor::process_mc_data()
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}
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}
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void Tiltrotor::process_fw_data()
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{
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fill_att_control_output();
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}
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void Tiltrotor::update_transition_state()
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{
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if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
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// for the first part of the transition the rear rotors are enabled
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if (_rear_motors != ENABLED) {
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set_rear_motor_state(ENABLED);
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}
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// tilt rotors forward up to certain angle
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if (_params_tiltrotor.front_trans_dur <= 0.0f) {
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_tilt_control = _params_tiltrotor.tilt_transition;
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} else if (_tilt_control <= _params_tiltrotor.tilt_transition) {
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_tilt_control = _params_tiltrotor.tilt_mc + fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc) *
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(float) hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tiltrotor.front_trans_dur * 1000000.0f);
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if (_tilt_control <= _params_tiltrotor.tilt_transition) {
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_tilt_control = _params_tiltrotor.tilt_mc + fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur*1000000.0f);
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}
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// do blending of mc and fw controls
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if (_airspeed->true_airspeed_m_s >= ARSP_BLEND_START && _params_tiltrotor.airspeed_trans - ARSP_BLEND_START > 0.0f) {
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if (_airspeed->true_airspeed_m_s >= ARSP_BLEND_START) {
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_roll_weight_mc = 1.0f - (_airspeed->true_airspeed_m_s - ARSP_BLEND_START) / (_params_tiltrotor.airspeed_trans - ARSP_BLEND_START);
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} else {
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// at low speeds give full weight to mc
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_roll_weight_mc = 1.0f;
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}
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_roll_weight_mc = math::constrain(_roll_weight_mc, 0.0f, 1.0f);
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
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_tilt_control = _params_tiltrotor.tilt_transition + fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) *
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(float) hrt_elapsed_time(&_vtol_schedule.transition_start) / (0.5f * 1000000.0f);
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_roll_weight_mc = 0.0f;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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// tilt rotors forward up to certain angle
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float progress = (float) hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tiltrotor.back_trans_dur * 1000000.0f);
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if (_tilt_control > _params_tiltrotor.tilt_mc) {
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_tilt_control = _params_tiltrotor.tilt_fw - fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc) * progress;
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// disable mc yaw control once the plane has picked up speed
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_yaw_weight_mc = 1.0f;
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if (_airspeed->true_airspeed_m_s > 5.0f) {
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_yaw_weight_mc = 0.0f;
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}
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_roll_weight_mc = progress;
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
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_tilt_control = _params_tiltrotor.tilt_transition + fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(0.5f*1000000.0f);
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_roll_weight_mc = 0.0f;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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if (_rear_motors != IDLE) {
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set_rear_motor_state(IDLE);
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}
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// tilt rotors back
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if (_tilt_control > _params_tiltrotor.tilt_mc) {
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_tilt_control = _params_tiltrotor.tilt_fw - fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_mc)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur*1000000.0f);
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}
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_roll_weight_mc = 0.0f;
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}
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_roll_weight_mc = math::constrain(_roll_weight_mc, 0.0f, 1.0f);
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_yaw_weight_mc = math::constrain(_yaw_weight_mc, 0.0f, 1.0f);
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}
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void Tiltrotor::update_external_state()
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@ -266,35 +267,91 @@ void Tiltrotor::update_external_state()
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}
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/**
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* Prepare message to acutators with data from the attitude controllers.
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/**
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* Write data to actuator output topic.
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*/
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void Tiltrotor::fill_att_control_output()
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void Tiltrotor::fill_actuator_outputs()
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{
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_actuators_out_0->control[0] = _actuators_mc_in->control[0] * _roll_weight_mc; // roll
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_actuators_out_0->control[1] = _actuators_mc_in->control[1] * _roll_weight_mc; // pitch
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_actuators_out_0->control[2] = _actuators_mc_in->control[2] * _roll_weight_mc; // yaw
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switch(_vtol_schedule.flight_mode) {
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case MC_MODE:
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_actuators_out_0->control[0] = _actuators_mc_in->control[0];
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_actuators_out_0->control[1] = _actuators_mc_in->control[1];
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_actuators_out_0->control[2] = _actuators_mc_in->control[2];
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_actuators_out_0->control[3] = _actuators_mc_in->control[3];
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_actuators_out_1->control[0] = 0;
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_actuators_out_1->control[1] = 0;
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_actuators_out_1->control[4] = _tilt_control;
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break;
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case FW_MODE:
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_actuators_out_0->control[0] = 0;
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_actuators_out_0->control[1] = 0;
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_actuators_out_0->control[2] = 0;
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_actuators_out_0->control[3] = _actuators_fw_in->control[3];
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if (_vtol_schedule.flight_mode == FW_MODE) {
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; // fw throttle
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} else {
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_actuators_out_0->control[3] = _actuators_mc_in->control[3]; // mc throttle
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}
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0]; // roll elevon
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_actuators_out_1->control[1] = _actuators_fw_in->control[1] + _params->fw_pitch_trim; // pitch elevon
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_actuators_out_1->control[2] = _actuators_fw_in->control[2]; // yaw
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; // throttle
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_actuators_out_1->control[4] = _tilt_control;
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break;
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case TRANSITION_FRONT_P1:
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_actuators_out_0->control[0] = _actuators_mc_in->control[0] * _roll_weight_mc;
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_actuators_out_0->control[1] = _actuators_mc_in->control[1];
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_actuators_out_0->control[2] = _actuators_mc_in->control[2] * _yaw_weight_mc;
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_actuators_out_0->control[3] = _actuators_mc_in->control[3];
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0] * (1.0f - _roll_weight_mc); //roll elevon
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_actuators_out_1->control[1] = (_actuators_fw_in->control[1] + _params->fw_pitch_trim); //pitch elevon
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_actuators_out_1->control[4] = _tilt_control; // for tilt-rotor control
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break;
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case TRANSITION_FRONT_P2:
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_actuators_out_0->control[0] = 0;
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_actuators_out_0->control[1] = 0;
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_actuators_out_0->control[2] = 0;
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_actuators_out_0->control[3] = _actuators_fw_in->control[3];
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0] * (1.0f - _roll_weight_mc); //roll elevon
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_actuators_out_1->control[1] = (_actuators_fw_in->control[1] + _params->fw_pitch_trim)* (1.0f -_roll_weight_mc); //pitch elevon
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_actuators_out_1->control[4] = _tilt_control; // for tilt-rotor control
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0]; // roll elevon
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_actuators_out_1->control[1] = _actuators_fw_in->control[1] + _params->fw_pitch_trim; // pitch elevon
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_actuators_out_1->control[2] = _actuators_fw_in->control[2]; // yaw
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; // throttle
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_actuators_out_1->control[4] = _tilt_control; // tilt
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break;
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case TRANSITION_BACK:
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_actuators_out_0->control[0] = _actuators_mc_in->control[0] * _roll_weight_mc;
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_actuators_out_0->control[1] = _actuators_mc_in->control[1];
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_actuators_out_0->control[2] = _actuators_mc_in->control[2] * _yaw_weight_mc;
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_actuators_out_0->control[3] = _actuators_fw_in->control[3];
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0]; // roll elevon
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_actuators_out_1->control[1] = _actuators_fw_in->control[1] + _params->fw_pitch_trim; // pitch elevon
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_actuators_out_1->control[2] = _actuators_fw_in->control[2]; // yaw
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; // throttle
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_actuators_out_1->control[4] = _tilt_control; // tilt
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}
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// unused now but still logged
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_actuators_out_1->control[2] = _actuators_fw_in->control[2]; // fw yaw
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}
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/**
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* Kill rear motors for the FireFLY6 when in fw mode.
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* Set state of rear motors.
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*/
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void
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Tiltrotor::set_max_fw(unsigned pwm_value)
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{
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void Tiltrotor::set_rear_motor_state(rear_motor_state state) {
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int pwm_value;
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// map desired rear rotor state to max allowed pwm signal
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switch (state) {
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case ENABLED:
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pwm_value = 2000;
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_rear_motors = ENABLED;
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case DISABLED:
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pwm_value = 950;
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_rear_motors = DISABLED;
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case IDLE:
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pwm_value = 1250;
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_rear_motors = IDLE;
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}
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int ret;
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unsigned servo_count;
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char *dev = PWM_OUTPUT0_DEVICE_PATH;
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@ -320,30 +377,5 @@ Tiltrotor::set_max_fw(unsigned pwm_value)
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if (ret != OK) {errx(ret, "failed setting max values");}
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close(fd);
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}
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void
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Tiltrotor::set_max_mc()
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||||
{
|
||||
int ret;
|
||||
unsigned servo_count;
|
||||
char *dev = PWM_OUTPUT0_DEVICE_PATH;
|
||||
int fd = open(dev, 0);
|
||||
|
||||
if (fd < 0) {err(1, "can't open %s", dev);}
|
||||
|
||||
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
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||||
struct pwm_output_values pwm_values;
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||||
memset(&pwm_values, 0, sizeof(pwm_values));
|
||||
|
||||
for (int i = 0; i < _params->vtol_motor_count; i++) {
|
||||
pwm_values.values[i] = 2000;
|
||||
pwm_values.channel_count = _params->vtol_motor_count;
|
||||
}
|
||||
|
||||
ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
|
||||
|
||||
if (ret != OK) {errx(ret, "failed setting max values");}
|
||||
|
||||
close(fd);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -52,24 +52,41 @@ public:
|
|||
Tiltrotor(VtolAttitudeControl * _att_controller);
|
||||
~Tiltrotor();
|
||||
|
||||
/**
|
||||
* Update vtol state.
|
||||
*/
|
||||
void update_vtol_state();
|
||||
|
||||
/**
|
||||
* Update multicopter state.
|
||||
*/
|
||||
void update_mc_state();
|
||||
void process_mc_data();
|
||||
|
||||
/**
|
||||
* Update fixed wing state.
|
||||
*/
|
||||
void update_fw_state();
|
||||
void process_fw_data();
|
||||
|
||||
/**
|
||||
* Update transition state.
|
||||
*/
|
||||
void update_transition_state();
|
||||
|
||||
/**
|
||||
* Update external state.
|
||||
*/
|
||||
void update_external_state();
|
||||
|
||||
private:
|
||||
|
||||
struct {
|
||||
float front_trans_dur;
|
||||
float back_trans_dur;
|
||||
float tilt_mc;
|
||||
float tilt_transition;
|
||||
float tilt_fw;
|
||||
float airspeed_trans;
|
||||
int elevons_mc_lock; // lock elevons in multicopter mode
|
||||
float front_trans_dur; /**< duration of first part of front transition */
|
||||
float back_trans_dur; /**< duration of back transition */
|
||||
float tilt_mc; /**< actuator value corresponding to mc tilt */
|
||||
float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
|
||||
float tilt_fw; /**< actuator value corresponding to fw tilt */
|
||||
float airspeed_trans; /**< airspeed at which we switch to fw mode after transition */
|
||||
int elevons_mc_lock; /**< lock elevons in multicopter mode */
|
||||
} _params_tiltrotor;
|
||||
|
||||
struct {
|
||||
|
|
@ -83,26 +100,46 @@ private:
|
|||
} _params_handles_tiltrotor;
|
||||
|
||||
enum vtol_mode {
|
||||
MC_MODE = 0,
|
||||
TRANSITION_FRONT_P1,
|
||||
TRANSITION_FRONT_P2,
|
||||
TRANSITION_BACK,
|
||||
FW_MODE
|
||||
MC_MODE = 0, /**< vtol is in multicopter mode */
|
||||
TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
|
||||
TRANSITION_FRONT_P2, /**< vtol is in front transition part 2 mode */
|
||||
TRANSITION_BACK, /**< vtol is in back transition mode */
|
||||
FW_MODE /**< vtol is in fixed wing mode */
|
||||
};
|
||||
|
||||
/**
|
||||
* Specific to tiltrotor with vertical aligned rear engine/s.
|
||||
* These engines need to be shut down in fw mode. During the back-transition
|
||||
* they need to idle otherwise they need too much time to spin up for mc mode.
|
||||
*/
|
||||
enum rear_motor_state {
|
||||
ENABLED = 0,
|
||||
DISABLED,
|
||||
IDLE
|
||||
} _rear_motors;
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; // indicates in which mode the vehicle is in
|
||||
hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
|
||||
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
}_vtol_schedule;
|
||||
|
||||
bool flag_max_mc;
|
||||
float _tilt_control;
|
||||
float _roll_weight_mc;
|
||||
float _tilt_control; /**< actuator value for the tilt servo */
|
||||
float _roll_weight_mc; /**< multicopter desired roll moment weight */
|
||||
float _yaw_weight_mc; /**< multicopter desired yaw moment weight */
|
||||
|
||||
void fill_att_control_output();
|
||||
void set_max_mc();
|
||||
void set_max_fw(unsigned pwm_value);
|
||||
/**
|
||||
* Write control values to actuator output topics.
|
||||
*/
|
||||
void fill_actuator_outputs();
|
||||
|
||||
/**
|
||||
* Adjust the state of the rear motors. In fw mode they shouldn't spin.
|
||||
*/
|
||||
void set_rear_motor_state(rear_motor_state state);
|
||||
|
||||
/**
|
||||
* Update parameters.
|
||||
*/
|
||||
int parameters_update();
|
||||
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue