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TailsitterVTOL: allow explicitly stop forward motor with zero thrust

This commit is contained in:
Matthias Grob 2023-04-27 17:10:34 +02:00
parent 62077908a3
commit 8eb34ce8ce
2 changed files with 17 additions and 4 deletions
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13
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
View File

@ -86,7 +86,15 @@ void ActuatorEffectivenessTailsitterVTOL::allocateAuxilaryControls(const float d
_control_surfaces.applySpoilers(spoilers_setpoint.normalized_setpoint, _first_control_surface_idx, dt, actuator_sp);
}
}
}
void ActuatorEffectivenessTailsitterVTOL::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
int matrix_index, ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max)
{
if (matrix_index == 0) {
stopMaskedMotorsWithZeroThrust(_forwards_motors_mask, actuator_sp);
}
}
void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flight_phase)
@ -97,15 +105,16 @@ void ActuatorEffectivenessTailsitterVTOL::setFlightPhase(const FlightPhase &flig
ActuatorEffectiveness::setFlightPhase(flight_phase);
// update stopped motors //TODO: add option to switch off certain motors in FW
// update stopped motors
switch (flight_phase) {
case FlightPhase::FORWARD_FLIGHT:
_stopped_motors_mask = 0;
_forwards_motors_mask = _mc_rotors.getUpwardsMotors(); // allocation frame they stay upwards
break;
case FlightPhase::HOVER_FLIGHT:
case FlightPhase::TRANSITION_FF_TO_HF:
case FlightPhase::TRANSITION_HF_TO_FF:
_forwards_motors_mask = 0;
_stopped_motors_mask = 0;
break;
}

8
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.hpp
View File

@ -72,16 +72,20 @@ public:
void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;
void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;
void setFlightPhase(const FlightPhase &flight_phase) override;
const char *name() const override { return "VTOL Tailsitter"; }
uint32_t getStoppedMotors() const override { return _stopped_motors; }
protected:
ActuatorEffectivenessRotors _mc_rotors;
ActuatorEffectivenessControlSurfaces _control_surfaces;
uint32_t _stopped_motors{}; ///< currently stopped motors
uint32_t _forwards_motors_mask{};
int _first_control_surface_idx{0}; ///< applies to matrix 1