forked from Archive/PX4-Autopilot
FW: rework spoiler/flap control logic
- remove separate flaperon controls input to mixer instead enable spoiler support - add slew rate limiting on both flap and spoiler controls - add spoiler configuration for Landing and Descend - add trimming from spoiler deflection - FW Attitude control: remove FW_FLAPS_SCL param --> The flap settings for takeoff and landing are now specified relative to full range. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
parent
21a2892f47
commit
4b8f93de5c
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@ -25,6 +25,8 @@ param set-default FW_P_LIM_MIN -15
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_P 0.3
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param set-default FW_SPOILERS_LND 0.8
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param set-default FW_THR_MAX 0.6
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param set-default FW_THR_MIN 0.05
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param set-default FW_THR_CRUISE 0.25
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@ -21,14 +21,16 @@ O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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# mixer for the left aileron
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M: 1
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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# mixer for the right aileron
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M: 1
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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# mixer for the elevator
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M: 1
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@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -20,11 +20,11 @@ endpoints to suit.
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M: 2
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 2
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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S: 0 5 -10000 -10000 0 -10000 10000
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Elevator mixer
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------------
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@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -21,11 +21,11 @@ endpoints to suit.
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M: 2
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 2
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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S: 0 5 -10000 -10000 0 -10000 10000
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V-tail mixers
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-------------
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@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4, the wheel to output 5 and the flaps to output 6 and 7.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up mechanically reversed.
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M: 2
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 2
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S: 0 0 -10000 -10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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S: 0 5 -10000 -10000 0 -10000 10000
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V-tail mixers
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-------------
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@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
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The configuration assumes the aileron servos are connected to PX4FMU
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The configuration assumes the aileron servos are connected to PX4FMU
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AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -22,11 +22,11 @@ endpoints to suit.
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M: 2
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S: 1 0 -10000 -10000 0 -10000 10000
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S: 1 6 10000 10000 0 -10000 10000
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S: 1 5 10000 10000 0 -10000 10000
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M: 2
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S: 1 0 -10000 -10000 0 -10000 10000
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S: 1 6 -10000 -10000 0 -10000 10000
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S: 1 5 -10000 -10000 0 -10000 10000
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V-tail mixers
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@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -21,12 +21,12 @@ endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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S: 0 5 -10000 -10000 0 -10000 10000
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Elevator mixer
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------------
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@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4, the wheel to output 5 and the flaps to output 6 and 7.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -22,12 +22,12 @@ endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 10000 10000 0 -10000 10000
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S: 0 5 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 0 0 10000 10000 0 -10000 10000
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S: 0 6 -10000 -10000 0 -10000 10000
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S: 0 5 -10000 -10000 0 -10000 10000
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V-tail mixers
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-------------
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@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU
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This file defines mixers suitable for controlling a fixed wing aircraft with
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aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
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The configuration assumes the aileron servos are connected to PX4FMU
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The configuration assumes the aileron servos are connected to PX4FMU
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AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
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to output 4.
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Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
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(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).
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Aileron mixer (roll + flaperon)
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Aileron mixer (roll + spoiler)
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---------------------------------
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This mixer assumes that the aileron servos are set up correctly mechanically;
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@ -21,12 +21,12 @@ endpoints to suit.
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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S: 1 6 10000 10000 0 -10000 10000
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S: 1 5 10000 10000 0 -10000 10000
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M: 2
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O: 10000 10000 0 -10000 10000
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S: 1 0 10000 10000 0 -10000 10000
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S: 1 6 -10000 -10000 0 -10000 10000
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S: 1 5 -10000 -10000 0 -10000 10000
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V-tail mixers
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@ -44,4 +44,5 @@ px4_add_module(
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ecl_yaw_controller.cpp
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DEPENDS
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px4_work_queue
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SlewRate
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)
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@ -67,6 +67,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
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_yaw_ctrl.set_max_rate(radians(_param_fw_acro_z_max.get()));
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_rate_ctrl_status_pub.advertise();
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_spoiler_setpoint_with_slewrate.setSlewRate(kSpoilerSlewRate);
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_flaps_setpoint_with_slewrate.setSlewRate(kFlapSlewRate);
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}
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FixedwingAttitudeControl::~FixedwingAttitudeControl()
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@ -382,11 +384,14 @@ void FixedwingAttitudeControl::Run()
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/* if we are in rotary wing mode, do nothing */
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if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.is_vtol) {
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_spoiler_setpoint_with_slewrate.setForcedValue(0.f);
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_flaps_setpoint_with_slewrate.setForcedValue(0.f);
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perf_end(_loop_perf);
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return;
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}
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control_flaps(dt);
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controlFlaps(dt);
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controlSpoilers(dt);
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/* decide if in stabilized or full manual control */
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if (_vcontrol_mode.flag_control_rates_enabled) {
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@ -498,8 +503,11 @@ void FixedwingAttitudeControl::Run()
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}
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/* add trim increment if flaps are deployed */
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trim_roll += _flaps_applied * _param_fw_dtrim_r_flps.get();
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trim_pitch += _flaps_applied * _param_fw_dtrim_p_flps.get();
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trim_roll += _flaps_setpoint_with_slewrate.getState() * _param_fw_dtrim_r_flps.get();
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trim_pitch += _flaps_setpoint_with_slewrate.getState() * _param_fw_dtrim_p_flps.get();
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// add trim increment from spoilers (only pitch)
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trim_pitch += _spoiler_setpoint_with_slewrate.getState() * _param_fw_dtrim_p_spoil.get();
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/* Run attitude controllers */
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if (_vcontrol_mode.flag_control_attitude_enabled) {
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@ -645,11 +653,11 @@ void FixedwingAttitudeControl::Run()
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_actuators.control[actuator_controls_s::INDEX_YAW] += _param_fw_rll_to_yaw_ff.get()
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* constrain(_actuators.control[actuator_controls_s::INDEX_ROLL], -1.0f, 1.0f);
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_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_applied;
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_actuators.control[5] = _manual_control_setpoint.aux1;
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_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = _flaperons_applied;
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_actuators.control[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
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_actuators.control[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
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_actuators.control[actuator_controls_s::INDEX_AIRBRAKES] = 0.f;
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// FIXME: this should use _vcontrol_mode.landing_gear_pos in the future
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_actuators.control[7] = _manual_control_setpoint.aux3;
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_actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _manual_control_setpoint.aux3;
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/* lazily publish the setpoint only once available */
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_actuators.timestamp = hrt_absolute_time();
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_vehicle_thrust_setpoint_pub.publish(v_thrust_sp);
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}
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void FixedwingAttitudeControl::control_flaps(const float dt)
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void FixedwingAttitudeControl::controlFlaps(const float dt)
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{
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/* default flaps to center */
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float flap_control = 0.0f;
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/* map flaps by default to manual if valid */
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if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled
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&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
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flap_control = _manual_control_setpoint.flaps * _param_fw_flaps_scl.get();
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if (PX4_ISFINITE(_manual_control_setpoint.flaps) && _vcontrol_mode.flag_control_manual_enabled) {
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flap_control = _manual_control_setpoint.flaps;
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} else if (_vcontrol_mode.flag_control_auto_enabled
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&& fabsf(_param_fw_flaps_scl.get()) > 0.01f) {
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} else if (_vcontrol_mode.flag_control_auto_enabled) {
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switch (_att_sp.apply_flaps) {
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case vehicle_attitude_setpoint_s::FLAPS_OFF:
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@ -716,50 +722,54 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
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break;
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case vehicle_attitude_setpoint_s::FLAPS_LAND:
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flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_lnd_scl.get();
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flap_control = _param_fw_flaps_lnd_scl.get();
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break;
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case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF:
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flap_control = 1.0f * _param_fw_flaps_scl.get() * _param_fw_flaps_to_scl.get();
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flap_control = _param_fw_flaps_to_scl.get();
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break;
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}
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}
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// move the actual control value continuous with time, full flap travel in 1sec
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if (fabsf(_flaps_applied - flap_control) > 0.01f) {
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_flaps_applied += (_flaps_applied - flap_control) < 0 ? dt : -dt;
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_flaps_setpoint_with_slewrate.update(flap_control, dt);
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}
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} else {
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_flaps_applied = flap_control;
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}
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void FixedwingAttitudeControl::controlSpoilers(const float dt)
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{
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float spoiler_control = 0.f;
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/* default flaperon to center */
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float flaperon_control = 0.0f;
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if (_vcontrol_mode.flag_control_manual_enabled) {
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switch (_param_fw_spoilers_man.get()) {
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case 0:
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break;
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/* map flaperons by default to manual if valid */
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if (PX4_ISFINITE(_manual_control_setpoint.aux2) && _vcontrol_mode.flag_control_manual_enabled
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&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
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case 1:
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spoiler_control = PX4_ISFINITE(_manual_control_setpoint.flaps) ? _manual_control_setpoint.flaps : 0.f;
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break;
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flaperon_control = 0.5f * (_manual_control_setpoint.aux2 + 1.0f) * _param_fw_flaperon_scl.get();
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case 2:
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spoiler_control = PX4_ISFINITE(_manual_control_setpoint.aux1) ? _manual_control_setpoint.aux1 : 0.f;
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break;
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}
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} else if (_vcontrol_mode.flag_control_auto_enabled
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&& fabsf(_param_fw_flaperon_scl.get()) > 0.01f) {
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} else if (_vcontrol_mode.flag_control_auto_enabled) {
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switch (_att_sp.apply_spoilers) {
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case vehicle_attitude_setpoint_s::SPOILERS_OFF:
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spoiler_control = 0.f;
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break;
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if (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) {
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flaperon_control = _param_fw_flaperon_scl.get();
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case vehicle_attitude_setpoint_s::SPOILERS_LAND:
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spoiler_control = _param_fw_spoilers_lnd.get();
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break;
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} else {
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flaperon_control = 0.0f;
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case vehicle_attitude_setpoint_s::SPOILERS_DESCEND:
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spoiler_control = _param_fw_spoilers_desc.get();
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break;
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}
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}
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// move the actual control value continuous with time, full flap travel in 1sec
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if (fabsf(_flaperons_applied - flaperon_control) > 0.01f) {
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_flaperons_applied += (_flaperons_applied - flaperon_control) < 0 ? dt : -dt;
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} else {
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_flaperons_applied = flaperon_control;
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}
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_spoiler_setpoint_with_slewrate.update(spoiler_control, dt);
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}
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void FixedwingAttitudeControl::updateActuatorControlsStatus(float dt)
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@ -40,6 +40,7 @@
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/slew_rate/SlewRate.hpp>
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#include <matrix/math.hpp>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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@ -78,6 +79,9 @@ using uORB::SubscriptionData;
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using namespace time_literals;
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static constexpr float kFlapSlewRate = 1.f; //minimum time from none to full flap deflection [s]
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static constexpr float kSpoilerSlewRate = 1.f; //minimum time from none to full spoiler deflection [s]
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class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
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public px4::WorkItem
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{
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hrt_abstime _last_run{0};
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float _flaps_applied{0.0f};
|
||||
float _flaperons_applied{0.0f};
|
||||
|
||||
float _airspeed_scaling{1.0f};
|
||||
|
||||
bool _landed{true};
|
||||
|
@ -156,6 +157,9 @@ private:
|
|||
float _control_energy[4] {};
|
||||
float _control_prev[3] {};
|
||||
|
||||
SlewRate<float> _spoiler_setpoint_with_slewrate;
|
||||
SlewRate<float> _flaps_setpoint_with_slewrate;
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::FW_ACRO_X_MAX>) _param_fw_acro_x_max,
|
||||
(ParamFloat<px4::params::FW_ACRO_Y_MAX>) _param_fw_acro_y_max,
|
||||
|
@ -171,6 +175,7 @@ private:
|
|||
(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,
|
||||
|
||||
(ParamFloat<px4::params::FW_DTRIM_P_FLPS>) _param_fw_dtrim_p_flps,
|
||||
(ParamFloat<px4::params::FW_DTRIM_P_SPOIL>) _param_fw_dtrim_p_spoil,
|
||||
(ParamFloat<px4::params::FW_DTRIM_P_VMAX>) _param_fw_dtrim_p_vmax,
|
||||
(ParamFloat<px4::params::FW_DTRIM_P_VMIN>) _param_fw_dtrim_p_vmin,
|
||||
(ParamFloat<px4::params::FW_DTRIM_R_FLPS>) _param_fw_dtrim_r_flps,
|
||||
|
@ -179,10 +184,11 @@ private:
|
|||
(ParamFloat<px4::params::FW_DTRIM_Y_VMAX>) _param_fw_dtrim_y_vmax,
|
||||
(ParamFloat<px4::params::FW_DTRIM_Y_VMIN>) _param_fw_dtrim_y_vmin,
|
||||
|
||||
(ParamFloat<px4::params::FW_FLAPERON_SCL>) _param_fw_flaperon_scl,
|
||||
(ParamFloat<px4::params::FW_FLAPS_LND_SCL>) _param_fw_flaps_lnd_scl,
|
||||
(ParamFloat<px4::params::FW_FLAPS_SCL>) _param_fw_flaps_scl,
|
||||
(ParamFloat<px4::params::FW_FLAPS_TO_SCL>) _param_fw_flaps_to_scl,
|
||||
(ParamFloat<px4::params::FW_SPOILERS_LND>) _param_fw_spoilers_lnd,
|
||||
(ParamFloat<px4::params::FW_SPOILERS_DESC>) _param_fw_spoilers_desc,
|
||||
(ParamInt<px4::params::FW_SPOILERS_MAN>) _param_fw_spoilers_man,
|
||||
|
||||
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
|
||||
(ParamFloat<px4::params::FW_MAN_P_SC>) _param_fw_man_p_sc,
|
||||
|
@ -230,7 +236,19 @@ private:
|
|||
ECL_YawController _yaw_ctrl;
|
||||
ECL_WheelController _wheel_ctrl;
|
||||
|
||||
void control_flaps(const float dt);
|
||||
/**
|
||||
* @brief Update flap control setting
|
||||
*
|
||||
* @param dt Current time delta [s]
|
||||
*/
|
||||
void controlFlaps(const float dt);
|
||||
|
||||
/**
|
||||
* @brief Update spoiler control setting
|
||||
*
|
||||
* @param dt Current time delta [s]
|
||||
*/
|
||||
void controlSpoilers(const float dt);
|
||||
|
||||
void updateActuatorControlsStatus(float dt);
|
||||
|
||||
|
|
|
@ -457,22 +457,11 @@ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f);
|
|||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
|
||||
|
||||
/**
|
||||
* Scale factor for flaps
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group FW Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
|
||||
|
||||
/**
|
||||
* Flaps setting during take-off
|
||||
*
|
||||
* Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
|
||||
* Sets a fraction of full flaps during take-off.
|
||||
* Also applies to flaperons if enabled in the mixer/allocation.
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
|
@ -486,7 +475,8 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
|
|||
/**
|
||||
* Flaps setting during landing
|
||||
*
|
||||
* Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
|
||||
* Sets a fraction of full flaps during landing.
|
||||
* Also applies to flaperons if enabled in the mixer/allocation.
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
|
@ -497,18 +487,6 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
|
|||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
|
||||
|
||||
/**
|
||||
* Scale factor for flaperons
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group FW Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_FLAPERON_SCL, 0.0f);
|
||||
|
||||
/**
|
||||
* Airspeed mode
|
||||
*
|
||||
|
@ -735,3 +713,52 @@ PARAM_DEFINE_FLOAT(FW_DTRIM_R_FLPS, 0.0f);
|
|||
* @increment 0.01
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_DTRIM_P_FLPS, 0.0f);
|
||||
|
||||
/**
|
||||
* Pitch trim increment for spoiler configuration
|
||||
*
|
||||
* This increment is added to the pitch trim whenever spoilers are fully deployed.
|
||||
*
|
||||
* @group FW Attitude Control
|
||||
* @min -0.25
|
||||
* @max 0.25
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_DTRIM_P_SPOIL, 0.f);
|
||||
|
||||
/**
|
||||
* Spoiler landing setting
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group FW Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_SPOILERS_LND, 0.f);
|
||||
|
||||
/**
|
||||
* Spoiler descend setting
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group FW Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_SPOILERS_DESC, 0.f);
|
||||
|
||||
/**
|
||||
* Spoiler input in manual flight
|
||||
*
|
||||
* Chose source for manual setting of spoilers in manual flight modes.
|
||||
*
|
||||
* @value 0 Disabled
|
||||
* @value 1 Flaps channel
|
||||
* @value 2 Aux1
|
||||
* @group FW Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(FW_SPOILERS_MAN, 0);
|
||||
|
|
|
@ -842,9 +842,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
|
|||
_l1_control.set_dt(dt);
|
||||
}
|
||||
|
||||
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
|
||||
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
|
||||
|
||||
/* save time when airplane is in air */
|
||||
if (!_was_in_air && !_landed) {
|
||||
_was_in_air = true;
|
||||
|
@ -1356,7 +1353,8 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
|
|||
// have to do this switch (which can cause significant altitude errors) close to the ground.
|
||||
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
|
||||
airspeed_sp = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
|
||||
_att_sp.apply_flaps = true;
|
||||
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
|
||||
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
|
||||
}
|
||||
|
||||
float target_airspeed = get_auto_airspeed_setpoint(now, airspeed_sp, ground_speed, dt);
|
||||
|
@ -1684,9 +1682,9 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
|
|||
prev_wp(1) = pos_sp_curr.lon;
|
||||
}
|
||||
|
||||
// apply full flaps for landings. this flag will also trigger the use of flaperons
|
||||
// if they have been enabled using the corresponding parameter
|
||||
// Apply flaps and spoilers for landing. Amount of deflection is handled in the FW attitdue controller
|
||||
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
|
||||
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
|
||||
|
||||
// Enable tighter altitude control for landings
|
||||
_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
|
||||
|
@ -2391,6 +2389,10 @@ FixedwingPositionControl::Run()
|
|||
|
||||
set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
|
||||
|
||||
_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
|
||||
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
|
||||
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
|
||||
|
||||
switch (_control_mode_current) {
|
||||
case FW_POSCTRL_MODE_AUTO: {
|
||||
control_auto(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,
|
||||
|
|
Loading…
Reference in New Issue