forked from Archive/PX4-Autopilot
VTOL rate control architecture improvements (#10819)
* attitude and rate setpoint message: use 3D array for thrust demand * FixedWingAttitudeControl: rework airspeed scaling * move airspeed and scaling calculation into separate method * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
parent
75c1396ed7
commit
90bfdb6f0a
|
@ -246,10 +246,8 @@ class Graph:
|
|||
|
||||
('mc_pos_control', r'mc_pos_control_main\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
|
||||
|
||||
('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
|
||||
('mc_att_control', r'mc_att_control_main\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
|
||||
|
||||
('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_rates_sp_id=([^,)]+)', r'^_rates_sp_id$'),
|
||||
('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_actuators_id=([^,)]+)', r'^_actuators_id$'),
|
||||
('fw_att_control', r'FixedwingAttitudeControl\.cpp$', r'\b_attitude_setpoint_id=([^,)]+)', r'^_attitude_setpoint_id$'),
|
||||
|
||||
|
|
|
@ -12,7 +12,9 @@ float32 yaw_sp_move_rate # rad/s (commanded by user)
|
|||
float32[4] q_d # Desired quaternion for quaternion control
|
||||
bool q_d_valid # Set to true if quaternion vector is valid
|
||||
|
||||
float32 thrust # Thrust in Newton the power system should generate
|
||||
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
|
||||
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
|
||||
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
|
||||
|
||||
bool roll_reset_integral # Reset roll integral part (navigation logic change)
|
||||
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
|
||||
|
|
|
@ -3,6 +3,7 @@ uint64 timestamp # time since system start (microseconds)
|
|||
float32 roll # body angular rates in NED frame
|
||||
float32 pitch # body angular rates in NED frame
|
||||
float32 yaw # body angular rates in NED frame
|
||||
float32 thrust # thrust normalized to 0..1
|
||||
|
||||
# TOPICS vehicle_rates_setpoint mc_virtual_rates_setpoint fw_virtual_rates_setpoint
|
||||
# For clarification: For multicopters thrust_body[0] and thrust[1] are usually 0 and thrust[2] is the negative throttle demand.
|
||||
# For fixed wings thrust_x is the throttle demand and thrust_y, thrust_z will usually be zero.
|
||||
float32[3] thrust_body # Normalized thrust command in body NED frame [-1,1]
|
||||
|
|
|
@ -182,7 +182,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
|
|||
actuators->control[2] = yaw_err * pp.yaw_p;
|
||||
|
||||
/* copy throttle */
|
||||
actuators->control[3] = att_sp->thrust;
|
||||
actuators->control[3] = att_sp->thrust_body[0];
|
||||
|
||||
actuators->timestamp = hrt_absolute_time();
|
||||
}
|
||||
|
|
|
@ -48,6 +48,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
|
|||
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fwa_nani")),
|
||||
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano"))
|
||||
{
|
||||
// check if VTOL first
|
||||
vehicle_status_poll();
|
||||
|
||||
_parameter_handles.p_tc = param_find("FW_P_TC");
|
||||
_parameter_handles.p_p = param_find("FW_PR_P");
|
||||
_parameter_handles.p_i = param_find("FW_PR_I");
|
||||
|
@ -116,13 +119,43 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
|
|||
|
||||
// initialize to invalid VTOL type
|
||||
_parameters.vtol_type = -1;
|
||||
_parameters.vtol_airspeed_rule = 0;
|
||||
|
||||
/* fetch initial parameter values */
|
||||
parameters_update();
|
||||
|
||||
// set initial maximum body rate setpoints
|
||||
_roll_ctrl.set_max_rate(_parameters.acro_max_x_rate_rad);
|
||||
_pitch_ctrl.set_max_rate_pos(_parameters.acro_max_y_rate_rad);
|
||||
_pitch_ctrl.set_max_rate_neg(_parameters.acro_max_y_rate_rad);
|
||||
_yaw_ctrl.set_max_rate(_parameters.acro_max_z_rate_rad);
|
||||
|
||||
// subscriptions
|
||||
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
_params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
|
||||
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
|
||||
_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
|
||||
}
|
||||
|
||||
FixedwingAttitudeControl::~FixedwingAttitudeControl()
|
||||
{
|
||||
orb_unsubscribe(_att_sub);
|
||||
orb_unsubscribe(_att_sp_sub);
|
||||
orb_unsubscribe(_vcontrol_mode_sub);
|
||||
orb_unsubscribe(_params_sub);
|
||||
orb_unsubscribe(_manual_sub);
|
||||
orb_unsubscribe(_global_pos_sub);
|
||||
orb_unsubscribe(_vehicle_status_sub);
|
||||
orb_unsubscribe(_vehicle_land_detected_sub);
|
||||
orb_unsubscribe(_battery_status_sub);
|
||||
orb_unsubscribe(_rates_sp_sub);
|
||||
|
||||
perf_free(_loop_perf);
|
||||
perf_free(_nonfinite_input_perf);
|
||||
perf_free(_nonfinite_output_perf);
|
||||
|
@ -131,7 +164,6 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
|
|||
int
|
||||
FixedwingAttitudeControl::parameters_update()
|
||||
{
|
||||
|
||||
int32_t tmp = 0;
|
||||
param_get(_parameter_handles.p_tc, &(_parameters.p_tc));
|
||||
param_get(_parameter_handles.p_p, &(_parameters.p_p));
|
||||
|
@ -209,6 +241,7 @@ FixedwingAttitudeControl::parameters_update()
|
|||
|
||||
if (_vehicle_status.is_vtol) {
|
||||
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
|
||||
param_get(_parameter_handles.vtol_airspeed_rule, &_parameters.vtol_airspeed_rule);
|
||||
}
|
||||
|
||||
param_get(_parameter_handles.bat_scale_en, &_parameters.bat_scale_en);
|
||||
|
@ -249,13 +282,12 @@ FixedwingAttitudeControl::parameters_update()
|
|||
void
|
||||
FixedwingAttitudeControl::vehicle_control_mode_poll()
|
||||
{
|
||||
bool vcontrol_mode_updated;
|
||||
bool updated = false;
|
||||
|
||||
/* Check if vehicle control mode has changed */
|
||||
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
|
||||
|
||||
if (vcontrol_mode_updated) {
|
||||
orb_check(_vcontrol_mode_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &_vcontrol_mode);
|
||||
}
|
||||
}
|
||||
|
@ -263,8 +295,8 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
|
|||
void
|
||||
FixedwingAttitudeControl::vehicle_manual_poll()
|
||||
{
|
||||
// only update manual if in a manual mode
|
||||
if (_vcontrol_mode.flag_control_manual_enabled) {
|
||||
|
||||
if (_vcontrol_mode.flag_control_manual_enabled && !_vehicle_status.is_rotary_wing) {
|
||||
|
||||
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
|
||||
if (orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual) == PX4_OK) {
|
||||
|
@ -287,7 +319,7 @@ FixedwingAttitudeControl::vehicle_manual_poll()
|
|||
_att_sp.pitch_body = -_manual.x * _parameters.man_pitch_max + _parameters.pitchsp_offset_rad;
|
||||
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max, _parameters.man_pitch_max);
|
||||
_att_sp.yaw_body = 0.0f;
|
||||
_att_sp.thrust = _manual.z;
|
||||
_att_sp.thrust_body[0] = _manual.z;
|
||||
|
||||
Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
|
||||
q.copyTo(_att_sp.q_d);
|
||||
|
@ -310,15 +342,15 @@ FixedwingAttitudeControl::vehicle_manual_poll()
|
|||
_rates_sp.roll = _manual.y * _parameters.acro_max_x_rate_rad;
|
||||
_rates_sp.pitch = -_manual.x * _parameters.acro_max_y_rate_rad;
|
||||
_rates_sp.yaw = _manual.r * _parameters.acro_max_z_rate_rad;
|
||||
_rates_sp.thrust = _manual.z;
|
||||
_rates_sp.thrust_body[0] = _manual.z;
|
||||
|
||||
if (_rate_sp_pub != nullptr) {
|
||||
/* publish the attitude rates setpoint */
|
||||
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &_rates_sp);
|
||||
|
||||
} else if (_rates_sp_id) {
|
||||
} else {
|
||||
/* advertise the attitude rates setpoint */
|
||||
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
|
||||
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
|
||||
}
|
||||
|
||||
} else {
|
||||
|
@ -335,14 +367,36 @@ FixedwingAttitudeControl::vehicle_manual_poll()
|
|||
}
|
||||
|
||||
void
|
||||
FixedwingAttitudeControl::vehicle_setpoint_poll()
|
||||
FixedwingAttitudeControl::vehicle_attitude_setpoint_poll()
|
||||
{
|
||||
/* check if there is a new setpoint */
|
||||
bool att_sp_updated;
|
||||
orb_check(_att_sp_sub, &att_sp_updated);
|
||||
bool updated = false;
|
||||
orb_check(_att_sp_sub, &updated);
|
||||
|
||||
if (att_sp_updated) {
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp);
|
||||
if (updated) {
|
||||
if (orb_copy(ORB_ID(vehicle_attitude_setpoint), _att_sp_sub, &_att_sp) == PX4_OK) {
|
||||
_rates_sp.thrust_body[0] = _att_sp.thrust_body[0];
|
||||
_rates_sp.thrust_body[1] = _att_sp.thrust_body[1];
|
||||
_rates_sp.thrust_body[2] = _att_sp.thrust_body[2];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
|
||||
{
|
||||
/* check if there is a new setpoint */
|
||||
bool updated = false;
|
||||
orb_check(_rates_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_rates_setpoint), _rates_sp_sub, &_rates_sp);
|
||||
|
||||
if (_parameters.vtol_type == vtol_type::TAILSITTER) {
|
||||
float tmp = _rates_sp.roll;
|
||||
_rates_sp.roll = -_rates_sp.yaw;
|
||||
_rates_sp.yaw = tmp;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -368,19 +422,28 @@ FixedwingAttitudeControl::vehicle_status_poll()
|
|||
if (vehicle_status_updated) {
|
||||
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
|
||||
|
||||
// if VTOL and not in fixed wing mode we should only control body-rates which are published
|
||||
// by the multicoper attitude controller. Therefore, modify the control mode to achieve rate
|
||||
// control only
|
||||
if (_vehicle_status.is_vtol) {
|
||||
if (_vehicle_status.is_rotary_wing) {
|
||||
_vcontrol_mode.flag_control_attitude_enabled = false;
|
||||
_vcontrol_mode.flag_control_manual_enabled = false;
|
||||
}
|
||||
}
|
||||
|
||||
/* set correct uORB ID, depending on if vehicle is VTOL or not */
|
||||
if (!_rates_sp_id) {
|
||||
if (!_actuators_id) {
|
||||
if (_vehicle_status.is_vtol) {
|
||||
_rates_sp_id = ORB_ID(fw_virtual_rates_setpoint);
|
||||
_actuators_id = ORB_ID(actuator_controls_virtual_fw);
|
||||
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
|
||||
|
||||
_parameter_handles.vtol_type = param_find("VT_TYPE");
|
||||
_parameter_handles.vtol_airspeed_rule = param_find("VT_AIRSPD_RULE");
|
||||
|
||||
parameters_update();
|
||||
|
||||
} else {
|
||||
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
|
||||
_actuators_id = ORB_ID(actuator_controls_0);
|
||||
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
|
||||
}
|
||||
|
@ -404,30 +467,44 @@ FixedwingAttitudeControl::vehicle_land_detected_poll()
|
|||
}
|
||||
}
|
||||
|
||||
void FixedwingAttitudeControl::get_airspeed_and_scaling(float &airspeed, float &airspeed_scaling)
|
||||
{
|
||||
const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
|
||||
&& (_airspeed_sub.get().indicated_airspeed_m_s > 0.0f)
|
||||
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1e6);
|
||||
|
||||
if (!_parameters.airspeed_disabled && airspeed_valid) {
|
||||
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
|
||||
airspeed = math::max(0.5f, _airspeed_sub.get().indicated_airspeed_m_s);
|
||||
|
||||
} else {
|
||||
// if no airspeed measurement is available out best guess is to use the trim airspeed
|
||||
airspeed = _parameters.airspeed_trim;
|
||||
|
||||
// VTOL: if we have no airspeed available and we are in hover mode then assume the lowest airspeed possible
|
||||
// this assumption is good as long as the vehicle is not hovering in a headwind which is much larger
|
||||
// than the minimum airspeed
|
||||
if (_vehicle_status.is_vtol && _vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
|
||||
airspeed = _parameters.airspeed_min;
|
||||
}
|
||||
|
||||
if (!airspeed_valid) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* For scaling our actuators using anything less than the min (close to stall)
|
||||
* speed doesn't make any sense - its the strongest reasonable deflection we
|
||||
* want to do in flight and its the baseline a human pilot would choose.
|
||||
*
|
||||
* Forcing the scaling to this value allows reasonable handheld tests.
|
||||
*/
|
||||
airspeed_scaling = _parameters.airspeed_trim / math::max(airspeed, _parameters.airspeed_min);
|
||||
}
|
||||
|
||||
void FixedwingAttitudeControl::run()
|
||||
{
|
||||
/*
|
||||
* do subscriptions
|
||||
*/
|
||||
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
_params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
|
||||
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
|
||||
|
||||
parameters_update();
|
||||
|
||||
/* get an initial update for all sensor and status data */
|
||||
vehicle_setpoint_poll();
|
||||
vehicle_control_mode_poll();
|
||||
vehicle_manual_poll();
|
||||
vehicle_status_poll();
|
||||
vehicle_land_detected_poll();
|
||||
|
||||
/* wakeup source */
|
||||
px4_pollfd_struct_t fds[1];
|
||||
|
||||
|
@ -529,7 +606,7 @@ void FixedwingAttitudeControl::run()
|
|||
matrix::Eulerf euler_angles(R);
|
||||
|
||||
_airspeed_sub.update();
|
||||
vehicle_setpoint_poll();
|
||||
vehicle_attitude_setpoint_poll();
|
||||
vehicle_control_mode_poll();
|
||||
vehicle_manual_poll();
|
||||
global_pos_poll();
|
||||
|
@ -560,35 +637,10 @@ void FixedwingAttitudeControl::run()
|
|||
|
||||
/* decide if in stabilized or full manual control */
|
||||
if (_vcontrol_mode.flag_control_rates_enabled) {
|
||||
/* scale around tuning airspeed */
|
||||
|
||||
float airspeed;
|
||||
|
||||
/* if airspeed is non-finite or not valid or if we are asked not to control it, we assume the normal average speed */
|
||||
const bool airspeed_valid = PX4_ISFINITE(_airspeed_sub.get().indicated_airspeed_m_s)
|
||||
&& (_airspeed_sub.get().indicated_airspeed_m_s > 0.0f)
|
||||
&& (hrt_elapsed_time(&_airspeed_sub.get().timestamp) < 1e6);
|
||||
|
||||
if (!_parameters.airspeed_disabled && airspeed_valid) {
|
||||
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
|
||||
airspeed = math::max(0.5f, _airspeed_sub.get().indicated_airspeed_m_s);
|
||||
|
||||
} else {
|
||||
airspeed = _parameters.airspeed_trim;
|
||||
|
||||
if (!airspeed_valid) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* For scaling our actuators using anything less than the min (close to stall)
|
||||
* speed doesn't make any sense - its the strongest reasonable deflection we
|
||||
* want to do in flight and its the baseline a human pilot would choose.
|
||||
*
|
||||
* Forcing the scaling to this value allows reasonable handheld tests.
|
||||
*/
|
||||
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min :
|
||||
airspeed);
|
||||
float airspeed_scaling;
|
||||
get_airspeed_and_scaling(airspeed, airspeed_scaling);
|
||||
|
||||
/* Use min airspeed to calculate ground speed scaling region.
|
||||
* Don't scale below gspd_scaling_trim
|
||||
|
@ -624,10 +676,6 @@ void FixedwingAttitudeControl::run()
|
|||
_wheel_ctrl.reset_integrator();
|
||||
}
|
||||
|
||||
float roll_sp = _att_sp.roll_body;
|
||||
float pitch_sp = _att_sp.pitch_body;
|
||||
float yaw_sp = _att_sp.yaw_body;
|
||||
|
||||
/* Prepare data for attitude controllers */
|
||||
struct ECL_ControlData control_input = {};
|
||||
control_input.roll = euler_angles.phi();
|
||||
|
@ -636,9 +684,9 @@ void FixedwingAttitudeControl::run()
|
|||
control_input.body_x_rate = _att.rollspeed;
|
||||
control_input.body_y_rate = _att.pitchspeed;
|
||||
control_input.body_z_rate = _att.yawspeed;
|
||||
control_input.roll_setpoint = roll_sp;
|
||||
control_input.pitch_setpoint = pitch_sp;
|
||||
control_input.yaw_setpoint = yaw_sp;
|
||||
control_input.roll_setpoint = _att_sp.roll_body;
|
||||
control_input.pitch_setpoint = _att_sp.pitch_body;
|
||||
control_input.yaw_setpoint = _att_sp.yaw_body;
|
||||
control_input.airspeed_min = _parameters.airspeed_min;
|
||||
control_input.airspeed_max = _parameters.airspeed_max;
|
||||
control_input.airspeed = airspeed;
|
||||
|
@ -649,7 +697,7 @@ void FixedwingAttitudeControl::run()
|
|||
|
||||
/* reset body angular rate limits on mode change */
|
||||
if ((_vcontrol_mode.flag_control_attitude_enabled != _flag_control_attitude_enabled_last) || params_updated) {
|
||||
if (_vcontrol_mode.flag_control_attitude_enabled) {
|
||||
if (_vcontrol_mode.flag_control_attitude_enabled || _vehicle_status.is_rotary_wing) {
|
||||
_roll_ctrl.set_max_rate(math::radians(_parameters.r_rmax));
|
||||
_pitch_ctrl.set_max_rate_pos(math::radians(_parameters.p_rmax_pos));
|
||||
_pitch_ctrl.set_max_rate_neg(math::radians(_parameters.p_rmax_neg));
|
||||
|
@ -693,7 +741,7 @@ void FixedwingAttitudeControl::run()
|
|||
|
||||
/* Run attitude controllers */
|
||||
if (_vcontrol_mode.flag_control_attitude_enabled) {
|
||||
if (PX4_ISFINITE(roll_sp) && PX4_ISFINITE(pitch_sp)) {
|
||||
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
|
||||
_roll_ctrl.control_attitude(control_input);
|
||||
_pitch_ctrl.control_attitude(control_input);
|
||||
_yaw_ctrl.control_attitude(control_input); //runs last, because is depending on output of roll and pitch attitude
|
||||
|
@ -744,8 +792,8 @@ void FixedwingAttitudeControl::run()
|
|||
}
|
||||
|
||||
/* throttle passed through if it is finite and if no engine failure was detected */
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust)
|
||||
&& !_vehicle_status.engine_failure) ? _att_sp.thrust : 0.0f;
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = (PX4_ISFINITE(_att_sp.thrust_body[0])
|
||||
&& !_vehicle_status.engine_failure) ? _att_sp.thrust_body[0] : 0.0f;
|
||||
|
||||
/* scale effort by battery status */
|
||||
if (_parameters.bat_scale_en &&
|
||||
|
@ -783,18 +831,19 @@ void FixedwingAttitudeControl::run()
|
|||
|
||||
if (_rate_sp_pub != nullptr) {
|
||||
/* publish the attitude rates setpoint */
|
||||
orb_publish(_rates_sp_id, _rate_sp_pub, &_rates_sp);
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _rate_sp_pub, &_rates_sp);
|
||||
|
||||
} else if (_rates_sp_id) {
|
||||
} else {
|
||||
/* advertise the attitude rates setpoint */
|
||||
_rate_sp_pub = orb_advertise(_rates_sp_id, &_rates_sp);
|
||||
_rate_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_rates_sp);
|
||||
}
|
||||
|
||||
} else {
|
||||
// pure rate control
|
||||
vehicle_rates_setpoint_poll();
|
||||
|
||||
_roll_ctrl.set_bodyrate_setpoint(_rates_sp.roll);
|
||||
_pitch_ctrl.set_bodyrate_setpoint(_rates_sp.pitch);
|
||||
_yaw_ctrl.set_bodyrate_setpoint(_rates_sp.yaw);
|
||||
_pitch_ctrl.set_bodyrate_setpoint(_rates_sp.pitch);
|
||||
|
||||
float roll_u = _roll_ctrl.control_bodyrate(control_input);
|
||||
_actuators.control[actuator_controls_s::INDEX_ROLL] = (PX4_ISFINITE(roll_u)) ? roll_u + trim_roll : trim_roll;
|
||||
|
@ -805,7 +854,8 @@ void FixedwingAttitudeControl::run()
|
|||
float yaw_u = _yaw_ctrl.control_bodyrate(control_input);
|
||||
_actuators.control[actuator_controls_s::INDEX_YAW] = (PX4_ISFINITE(yaw_u)) ? yaw_u + trim_yaw : trim_yaw;
|
||||
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust) ? _rates_sp.thrust : 0.0f;
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = PX4_ISFINITE(_rates_sp.thrust_body[0]) ?
|
||||
_rates_sp.thrust_body[0] : 0.0f;
|
||||
}
|
||||
|
||||
rate_ctrl_status_s rate_ctrl_status;
|
||||
|
|
|
@ -95,6 +95,7 @@ private:
|
|||
|
||||
int _att_sub{-1}; /**< vehicle attitude */
|
||||
int _att_sp_sub{-1}; /**< vehicle attitude setpoint */
|
||||
int _rates_sp_sub{-1}; /**< vehicle rates setpoint */
|
||||
int _battery_status_sub{-1}; /**< battery status subscription */
|
||||
int _global_pos_sub{-1}; /**< global position subscription */
|
||||
int _manual_sub{-1}; /**< notification of manual control updates */
|
||||
|
@ -109,7 +110,6 @@ private:
|
|||
orb_advert_t _actuators_2_pub{nullptr}; /**< actuator control group 1 setpoint (Airframe) */
|
||||
orb_advert_t _rate_ctrl_status_pub{nullptr}; /**< rate controller status publication */
|
||||
|
||||
orb_id_t _rates_sp_id{nullptr}; // pointer to correct rates setpoint uORB metadata structure
|
||||
orb_id_t _actuators_id{nullptr}; // pointer to correct actuator controls0 uORB metadata structure
|
||||
orb_id_t _attitude_setpoint_id{nullptr};
|
||||
|
||||
|
@ -185,7 +185,7 @@ private:
|
|||
float pitchsp_offset_deg; /**< Pitch Setpoint Offset in deg */
|
||||
float rollsp_offset_rad; /**< Roll Setpoint Offset in rad */
|
||||
float pitchsp_offset_rad; /**< Pitch Setpoint Offset in rad */
|
||||
float man_roll_max; /**< Max Roll in rad */
|
||||
float man_roll_max; /**< Max Roll in rad */
|
||||
float man_pitch_max; /**< Max Pitch in rad */
|
||||
float man_roll_scale; /**< scale factor applied to roll actuator control in pure manual mode */
|
||||
float man_pitch_scale; /**< scale factor applied to pitch actuator control in pure manual mode */
|
||||
|
@ -195,13 +195,14 @@ private:
|
|||
float acro_max_y_rate_rad;
|
||||
float acro_max_z_rate_rad;
|
||||
|
||||
float flaps_scale; /**< Scale factor for flaps */
|
||||
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
|
||||
float flaps_scale; /**< Scale factor for flaps */
|
||||
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
|
||||
float flaperon_scale; /**< Scale factor for flaperons */
|
||||
|
||||
float rattitude_thres;
|
||||
|
||||
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
|
||||
int32_t vtol_type; /**< VTOL type: 0 = tailsitter, 1 = tiltrotor */
|
||||
int32_t vtol_airspeed_rule;
|
||||
|
||||
int32_t bat_scale_en; /**< Battery scaling enabled */
|
||||
bool airspeed_disabled;
|
||||
|
@ -271,6 +272,7 @@ private:
|
|||
param_t rattitude_thres;
|
||||
|
||||
param_t vtol_type;
|
||||
param_t vtol_airspeed_rule;
|
||||
|
||||
param_t bat_scale_en;
|
||||
param_t airspeed_mode;
|
||||
|
@ -291,9 +293,10 @@ private:
|
|||
|
||||
void vehicle_control_mode_poll();
|
||||
void vehicle_manual_poll();
|
||||
void vehicle_setpoint_poll();
|
||||
void vehicle_attitude_setpoint_poll();
|
||||
void vehicle_rates_setpoint_poll();
|
||||
void global_pos_poll();
|
||||
void vehicle_status_poll();
|
||||
void vehicle_land_detected_poll();
|
||||
|
||||
void get_airspeed_and_scaling(float &airspeed, float &airspeed_scaling);
|
||||
};
|
||||
|
|
|
@ -916,7 +916,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
|
|||
}
|
||||
|
||||
if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[0] = 0.0f;
|
||||
_att_sp.roll_body = 0.0f;
|
||||
_att_sp.pitch_body = 0.0f;
|
||||
|
||||
|
@ -1185,30 +1185,30 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
|
|||
/* making sure again that the correct thrust is used,
|
||||
* without depending on library calls for safety reasons.
|
||||
the pre-takeoff throttle and the idle throttle normally map to the same parameter. */
|
||||
_att_sp.thrust = _parameters.throttle_idle;
|
||||
_att_sp.thrust_body[0] = _parameters.throttle_idle;
|
||||
|
||||
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
|
||||
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
|
||||
_runway_takeoff.runwayTakeoffEnabled()) {
|
||||
|
||||
_att_sp.thrust = _runway_takeoff.getThrottle(min(get_tecs_thrust(), throttle_max));
|
||||
_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(min(get_tecs_thrust(), throttle_max));
|
||||
|
||||
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
|
||||
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
|
||||
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[0] = 0.0f;
|
||||
|
||||
} else if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
|
||||
_att_sp.thrust = min(_att_sp.thrust, _parameters.throttle_max);
|
||||
_att_sp.thrust_body[0] = min(_att_sp.thrust_body[0], _parameters.throttle_max);
|
||||
|
||||
} else {
|
||||
/* Copy thrust and pitch values from tecs */
|
||||
if (_vehicle_land_detected.landed) {
|
||||
// when we are landed state we want the motor to spin at idle speed
|
||||
_att_sp.thrust = min(_parameters.throttle_idle, throttle_max);
|
||||
_att_sp.thrust_body[0] = min(_parameters.throttle_idle, throttle_max);
|
||||
|
||||
} else {
|
||||
_att_sp.thrust = min(get_tecs_thrust(), throttle_max);
|
||||
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -303,7 +303,7 @@ GroundRoverAttitudeControl::task_main()
|
|||
}
|
||||
|
||||
/* throttle passed through if it is finite and if no engine failure was detected */
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust;
|
||||
_actuators.control[actuator_controls_s::INDEX_THROTTLE] = _att_sp.thrust_body[0];
|
||||
|
||||
/* scale effort by battery status */
|
||||
if (_parameters.bat_scale_en && _battery_status.scale > 0.0f &&
|
||||
|
|
|
@ -261,7 +261,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f ¤t_pos
|
|||
_att_sp.roll_body = 0.0f;
|
||||
_att_sp.pitch_body = 0.0f;
|
||||
_att_sp.yaw_body = 0.0f;
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[0] = 0.0f;
|
||||
|
||||
} else if ((pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION)
|
||||
|| (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
|
||||
|
@ -272,7 +272,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f ¤t_pos
|
|||
_att_sp.pitch_body = 0.0f;
|
||||
_att_sp.yaw_body = _gnd_control.nav_bearing();
|
||||
_att_sp.fw_control_yaw = true;
|
||||
_att_sp.thrust = mission_throttle;
|
||||
_att_sp.thrust_body[0] = mission_throttle;
|
||||
|
||||
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
|
||||
|
||||
|
@ -284,7 +284,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f ¤t_pos
|
|||
_att_sp.pitch_body = 0.0f;
|
||||
_att_sp.yaw_body = _gnd_control.nav_bearing();
|
||||
_att_sp.fw_control_yaw = true;
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[0] = 0.0f;
|
||||
}
|
||||
|
||||
if (was_circle_mode && !_gnd_control.circle_mode()) {
|
||||
|
@ -299,7 +299,7 @@ GroundRoverPositionControl::control_position(const matrix::Vector2f ¤t_pos
|
|||
_att_sp.pitch_body = 0.0f;
|
||||
_att_sp.yaw_body = 0.0f;
|
||||
_att_sp.fw_control_yaw = true;
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[0] = 0.0f;
|
||||
|
||||
/* do not publish the setpoint */
|
||||
setpoint = false;
|
||||
|
|
|
@ -3138,7 +3138,7 @@ protected:
|
|||
msg.body_pitch_rate = att_rates_sp.pitch;
|
||||
msg.body_yaw_rate = att_rates_sp.yaw;
|
||||
|
||||
msg.thrust = att_sp.thrust;
|
||||
msg.thrust = att_sp.thrust_body[0];
|
||||
|
||||
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);
|
||||
|
||||
|
|
|
@ -1447,8 +1447,11 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
|
|||
att_sp.yaw_sp_move_rate = 0.0f;
|
||||
}
|
||||
|
||||
// TODO: We assume offboard is only used for multicopters which produce thrust along the
|
||||
// body z axis. If we want to support fixed wing as well we need to handle it differently here, e.g.
|
||||
// in that case we should assign att_sp.thrust_body[0]
|
||||
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
|
||||
att_sp.thrust = set_attitude_target.thrust;
|
||||
att_sp.thrust_body[2] = -set_attitude_target.thrust;
|
||||
}
|
||||
|
||||
if (_att_sp_pub == nullptr) {
|
||||
|
@ -1472,7 +1475,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
if (!_offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
|
||||
rates_sp.thrust = set_attitude_target.thrust;
|
||||
rates_sp.thrust_body[2] = -set_attitude_target.thrust;
|
||||
}
|
||||
|
||||
if (_rates_sp_pub == nullptr) {
|
||||
|
|
|
@ -166,7 +166,6 @@ private:
|
|||
orb_advert_t _controller_status_pub{nullptr}; /**< controller status publication */
|
||||
orb_advert_t _vehicle_attitude_setpoint_pub{nullptr};
|
||||
|
||||
orb_id_t _rates_sp_id{nullptr}; /**< pointer to correct rates setpoint uORB metadata structure */
|
||||
orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
|
||||
|
||||
bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
|
||||
|
@ -196,8 +195,9 @@ private:
|
|||
matrix::Vector3f _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
|
||||
matrix::Vector3f _rates_sp; /**< angular rates setpoint */
|
||||
matrix::Vector3f _rates_int; /**< angular rates integral error */
|
||||
float _thrust_sp; /**< thrust setpoint */
|
||||
|
||||
matrix::Vector3f _att_control; /**< attitude control vector */
|
||||
float _thrust_sp{0.0f}; /**< thrust setpoint */
|
||||
|
||||
matrix::Dcmf _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
|
||||
|
||||
|
|
|
@ -273,13 +273,11 @@ MulticopterAttitudeControl::vehicle_status_poll()
|
|||
orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
|
||||
|
||||
/* set correct uORB ID, depending on if vehicle is VTOL or not */
|
||||
if (_rates_sp_id == nullptr) {
|
||||
if (_actuators_id == nullptr) {
|
||||
if (_vehicle_status.is_vtol) {
|
||||
_rates_sp_id = ORB_ID(mc_virtual_rates_setpoint);
|
||||
_actuators_id = ORB_ID(actuator_controls_virtual_mc);
|
||||
|
||||
} else {
|
||||
_rates_sp_id = ORB_ID(vehicle_rates_setpoint);
|
||||
_actuators_id = ORB_ID(actuator_controls_0);
|
||||
}
|
||||
}
|
||||
|
@ -508,7 +506,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
|
|||
q_sp.copyTo(attitude_setpoint.q_d);
|
||||
attitude_setpoint.q_d_valid = true;
|
||||
|
||||
attitude_setpoint.thrust = throttle_curve(_manual_control_sp.z);
|
||||
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
|
||||
|
||||
attitude_setpoint.landing_gear = get_landing_gear_state();
|
||||
attitude_setpoint.timestamp = hrt_absolute_time();
|
||||
|
@ -524,7 +522,9 @@ void
|
|||
MulticopterAttitudeControl::control_attitude()
|
||||
{
|
||||
vehicle_attitude_setpoint_poll();
|
||||
_thrust_sp = _v_att_sp.thrust;
|
||||
|
||||
// physical thrust axis is the negative of body z axis
|
||||
_thrust_sp = -_v_att_sp.thrust_body[2];
|
||||
|
||||
/* prepare yaw weight from the ratio between roll/pitch and yaw gains */
|
||||
Vector3f attitude_gain = _attitude_p;
|
||||
|
@ -607,7 +607,7 @@ Vector3f
|
|||
MulticopterAttitudeControl::pid_attenuations(float tpa_breakpoint, float tpa_rate)
|
||||
{
|
||||
/* throttle pid attenuation factor */
|
||||
float tpa = 1.0f - tpa_rate * (fabsf(_v_rates_sp.thrust) - tpa_breakpoint) / (1.0f - tpa_breakpoint);
|
||||
float tpa = 1.0f - tpa_rate * (fabsf(_thrust_sp) - tpa_breakpoint) / (1.0f - tpa_breakpoint);
|
||||
tpa = fmaxf(TPA_RATE_LOWER_LIMIT, fminf(1.0f, tpa));
|
||||
|
||||
Vector3f pidAttenuationPerAxis;
|
||||
|
@ -731,9 +731,11 @@ MulticopterAttitudeControl::publish_rates_setpoint()
|
|||
_v_rates_sp.roll = _rates_sp(0);
|
||||
_v_rates_sp.pitch = _rates_sp(1);
|
||||
_v_rates_sp.yaw = _rates_sp(2);
|
||||
_v_rates_sp.thrust = _thrust_sp;
|
||||
_v_rates_sp.thrust_body[0] = 0.0f;
|
||||
_v_rates_sp.thrust_body[1] = 0.0f;
|
||||
_v_rates_sp.thrust_body[2] = -_thrust_sp;
|
||||
_v_rates_sp.timestamp = hrt_absolute_time();
|
||||
orb_publish_auto(_rates_sp_id, &_v_rates_sp_pub, &_v_rates_sp, nullptr, ORB_PRIO_DEFAULT);
|
||||
orb_publish_auto(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp_pub, &_v_rates_sp, nullptr, ORB_PRIO_DEFAULT);
|
||||
}
|
||||
|
||||
void
|
||||
|
@ -886,7 +888,7 @@ MulticopterAttitudeControl::run()
|
|||
|
||||
bool attitude_setpoint_generated = false;
|
||||
|
||||
if (_v_control_mode.flag_control_attitude_enabled) {
|
||||
if (_v_control_mode.flag_control_attitude_enabled && _vehicle_status.is_rotary_wing) {
|
||||
if (attitude_updated) {
|
||||
// Generate the attitude setpoint from stick inputs if we are in Manual/Stabilized mode
|
||||
if (_v_control_mode.flag_control_manual_enabled &&
|
||||
|
@ -903,7 +905,7 @@ MulticopterAttitudeControl::run()
|
|||
|
||||
} else {
|
||||
/* attitude controller disabled, poll rates setpoint topic */
|
||||
if (_v_control_mode.flag_control_manual_enabled) {
|
||||
if (_v_control_mode.flag_control_manual_enabled && _vehicle_status.is_rotary_wing) {
|
||||
if (manual_control_updated) {
|
||||
/* manual rates control - ACRO mode */
|
||||
Vector3f man_rate_sp(
|
||||
|
@ -921,7 +923,7 @@ MulticopterAttitudeControl::run()
|
|||
_rates_sp(0) = _v_rates_sp.roll;
|
||||
_rates_sp(1) = _v_rates_sp.pitch;
|
||||
_rates_sp(2) = _v_rates_sp.yaw;
|
||||
_thrust_sp = _v_rates_sp.thrust;
|
||||
_thrust_sp = -_v_rates_sp.thrust_body[2];
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
@ -103,7 +103,7 @@ vehicle_attitude_setpoint_s thrustToAttitude(const Vector3f &thr_sp, const float
|
|||
Eulerf euler = R_sp;
|
||||
att_sp.roll_body = euler(0);
|
||||
att_sp.pitch_body = euler(1);
|
||||
att_sp.thrust = thr_sp.length();
|
||||
att_sp.thrust_body[2] = -thr_sp.length();
|
||||
|
||||
return att_sp;
|
||||
}
|
||||
|
|
|
@ -827,7 +827,7 @@ MulticopterPositionControl::run()
|
|||
matrix::Quatf q_sp = matrix::Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body);
|
||||
q_sp.copyTo(_att_sp.q_d);
|
||||
_att_sp.q_d_valid = true;
|
||||
_att_sp.thrust = 0.0f;
|
||||
_att_sp.thrust_body[2] = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -86,7 +86,7 @@ GpsFailure::on_active()
|
|||
att_sp.timestamp = hrt_absolute_time();
|
||||
att_sp.roll_body = math::radians(_param_openlooploiter_roll.get());
|
||||
att_sp.pitch_body = math::radians(_param_openlooploiter_pitch.get());
|
||||
att_sp.thrust = _param_openlooploiter_thrust.get();
|
||||
att_sp.thrust_body[0] = _param_openlooploiter_thrust.get();
|
||||
|
||||
Quatf q(Eulerf(att_sp.roll_body, att_sp.pitch_body, 0.0f));
|
||||
q.copyTo(att_sp.q_d);
|
||||
|
|
|
@ -46,13 +46,10 @@
|
|||
|
||||
#include <float.h>
|
||||
|
||||
using matrix::wrap_pi;
|
||||
using namespace matrix;
|
||||
|
||||
Standard::Standard(VtolAttitudeControl *attc) :
|
||||
VtolType(attc),
|
||||
_pusher_throttle(0.0f),
|
||||
_reverse_output(0.0f),
|
||||
_airspeed_trans_blend_margin(0.0f)
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
|
@ -156,8 +153,8 @@ void Standard::update_vtol_state()
|
|||
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
|
||||
// transition to MC mode if transition time has passed or forward velocity drops below MPC cruise speed
|
||||
|
||||
const matrix::Dcmf R_to_body(matrix::Quatf(_v_att->q).inversed());
|
||||
const matrix::Vector3f vel = R_to_body * matrix::Vector3f(_local_pos->vx, _local_pos->vy, _local_pos->vz);
|
||||
const Dcmf R_to_body(Quatf(_v_att->q).inversed());
|
||||
const Vector3f vel = R_to_body * Vector3f(_local_pos->vx, _local_pos->vy, _local_pos->vz);
|
||||
|
||||
float x_vel = vel(0);
|
||||
|
||||
|
@ -261,7 +258,7 @@ void Standard::update_transition_state()
|
|||
|
||||
// ramp up FW_PSP_OFF
|
||||
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset * (1.0f - mc_weight);
|
||||
matrix::Quatf q_sp(matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
_v_att_sp->q_d_valid = true;
|
||||
|
||||
|
@ -277,7 +274,7 @@ void Standard::update_transition_state()
|
|||
|
||||
// maintain FW_PSP_OFF
|
||||
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
|
||||
matrix::Quatf q_sp(matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
_v_att_sp->q_d_valid = true;
|
||||
|
||||
|
@ -333,18 +330,18 @@ void Standard::update_mc_state()
|
|||
return;
|
||||
}
|
||||
|
||||
matrix::Dcmf R(matrix::Quatf(_v_att->q));
|
||||
matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d));
|
||||
matrix::Eulerf euler(R);
|
||||
matrix::Eulerf euler_sp(R_sp);
|
||||
const Dcmf R(Quatf(_v_att->q));
|
||||
const Dcmf R_sp(Quatf(_v_att_sp->q_d));
|
||||
const Eulerf euler(R);
|
||||
const Eulerf euler_sp(R_sp);
|
||||
_pusher_throttle = 0.0f;
|
||||
|
||||
// direction of desired body z axis represented in earth frame
|
||||
matrix::Vector3f body_z_sp(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
|
||||
Vector3f body_z_sp(R_sp(0, 2), R_sp(1, 2), R_sp(2, 2));
|
||||
|
||||
// rotate desired body z axis into new frame which is rotated in z by the current
|
||||
// heading of the vehicle. we refer to this as the heading frame.
|
||||
matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -euler(2));
|
||||
Dcmf R_yaw = Eulerf(0.0f, 0.0f, -euler(2));
|
||||
body_z_sp = R_yaw * body_z_sp;
|
||||
body_z_sp.normalize();
|
||||
|
||||
|
@ -365,25 +362,25 @@ void Standard::update_mc_state()
|
|||
float pitch_new = 0.0f;
|
||||
|
||||
// create corrected desired body z axis in heading frame
|
||||
matrix::Dcmf R_tmp = matrix::Eulerf(roll_new, pitch_new, 0.0f);
|
||||
matrix::Vector3f tilt_new(R_tmp(0, 2), R_tmp(1, 2), R_tmp(2, 2));
|
||||
const Dcmf R_tmp = Eulerf(roll_new, pitch_new, 0.0f);
|
||||
Vector3f tilt_new(R_tmp(0, 2), R_tmp(1, 2), R_tmp(2, 2));
|
||||
|
||||
// rotate the vector into a new frame which is rotated in z by the desired heading
|
||||
// with respect to the earh frame.
|
||||
const float yaw_error = wrap_pi(euler_sp(2) - euler(2));
|
||||
matrix::Dcmf R_yaw_correction = matrix::Eulerf(0.0f, 0.0f, -yaw_error);
|
||||
const Dcmf R_yaw_correction = Eulerf(0.0f, 0.0f, -yaw_error);
|
||||
tilt_new = R_yaw_correction * tilt_new;
|
||||
|
||||
// now extract roll and pitch setpoints
|
||||
_v_att_sp->pitch_body = atan2f(tilt_new(0), tilt_new(2));
|
||||
_v_att_sp->roll_body = -asinf(tilt_new(1));
|
||||
R_sp = matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, euler_sp(2));
|
||||
matrix::Quatf q_sp(R_sp);
|
||||
|
||||
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, euler_sp(2)));
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
_v_att_sp->q_d_valid = true;
|
||||
}
|
||||
|
||||
_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;
|
||||
|
||||
}
|
||||
|
||||
void Standard::update_fw_state()
|
||||
|
@ -475,5 +472,5 @@ void
|
|||
Standard::waiting_on_tecs()
|
||||
{
|
||||
// keep thrust from transition
|
||||
_v_att_sp->thrust = _pusher_throttle;
|
||||
_v_att_sp->thrust_body[0] = _pusher_throttle;
|
||||
};
|
||||
|
|
|
@ -55,14 +55,14 @@ class Standard : public VtolType
|
|||
public:
|
||||
|
||||
Standard(VtolAttitudeControl *_att_controller);
|
||||
~Standard() = default;
|
||||
~Standard() override = default;
|
||||
|
||||
virtual void update_vtol_state();
|
||||
virtual void update_transition_state();
|
||||
virtual void update_fw_state();
|
||||
virtual void update_mc_state();
|
||||
virtual void fill_actuator_outputs();
|
||||
virtual void waiting_on_tecs();
|
||||
void update_vtol_state() override;
|
||||
void update_transition_state() override;
|
||||
void update_fw_state() override;
|
||||
void update_mc_state() override;
|
||||
void fill_actuator_outputs() override;
|
||||
void waiting_on_tecs() override;
|
||||
|
||||
private:
|
||||
|
||||
|
@ -98,10 +98,10 @@ private:
|
|||
hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
|
||||
} _vtol_schedule;
|
||||
|
||||
float _pusher_throttle;
|
||||
float _reverse_output;
|
||||
float _airspeed_trans_blend_margin;
|
||||
float _pusher_throttle{0.0f};
|
||||
float _reverse_output{0.0f};
|
||||
float _airspeed_trans_blend_margin{0.0f};
|
||||
|
||||
virtual void parameters_update();
|
||||
void parameters_update() override;
|
||||
};
|
||||
#endif
|
||||
|
|
|
@ -47,11 +47,10 @@
|
|||
#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2
|
||||
#define PITCH_TRANSITION_BACK -0.25f // pitch angle to switch to MC
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
|
||||
VtolType(attc),
|
||||
_thrust_transition_start(0.0f),
|
||||
_yaw_transition(0.0f),
|
||||
_pitch_transition_start(0.0f)
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
|
@ -63,6 +62,7 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
|
|||
_flag_was_in_trans_mode = false;
|
||||
|
||||
_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
|
||||
_params_handles_tailsitter.fw_pitch_sp_offset = param_find("FW_PSP_OFF");
|
||||
}
|
||||
|
||||
void
|
||||
|
@ -73,18 +73,20 @@ Tailsitter::parameters_update()
|
|||
/* vtol front transition phase 2 duration */
|
||||
param_get(_params_handles_tailsitter.front_trans_dur_p2, &v);
|
||||
_params_tailsitter.front_trans_dur_p2 = v;
|
||||
|
||||
param_get(_params_handles_tailsitter.fw_pitch_sp_offset, &v);
|
||||
_params_tailsitter.fw_pitch_sp_offset = math::radians(v);
|
||||
}
|
||||
|
||||
void Tailsitter::update_vtol_state()
|
||||
{
|
||||
|
||||
/* simple logic using a two way switch to perform transitions.
|
||||
* after flipping the switch the vehicle will start tilting in MC control mode, picking up
|
||||
* forward speed. After the vehicle has picked up enough and sufficient pitch angle the uav will go into FW mode.
|
||||
* For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
|
||||
*/
|
||||
|
||||
matrix::Eulerf euler = matrix::Quatf(_v_att->q);
|
||||
Eulerf euler = Quatf(_v_att->q);
|
||||
float pitch = euler.theta();
|
||||
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
|
@ -104,9 +106,10 @@ void Tailsitter::update_vtol_state()
|
|||
break;
|
||||
|
||||
case TRANSITION_BACK:
|
||||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
// check if we have reached pitch angle to switch to MC mode
|
||||
if (pitch >= PITCH_TRANSITION_BACK) {
|
||||
if (pitch >= PITCH_TRANSITION_BACK || time_since_trans_start > _params->back_trans_duration) {
|
||||
_vtol_schedule.flight_mode = MC_MODE;
|
||||
}
|
||||
|
||||
|
@ -176,89 +179,94 @@ void Tailsitter::update_transition_state()
|
|||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
if (!_flag_was_in_trans_mode) {
|
||||
// save desired heading for transition and last thrust value
|
||||
_yaw_transition = _v_att_sp->yaw_body;
|
||||
//transition should start from current attitude instead of current setpoint
|
||||
matrix::Eulerf euler = matrix::Quatf(_v_att->q);
|
||||
_pitch_transition_start = euler.theta();
|
||||
_thrust_transition_start = _v_att_sp->thrust;
|
||||
_flag_was_in_trans_mode = true;
|
||||
|
||||
if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
|
||||
// calculate rotation axis for transition.
|
||||
_q_trans_start = Quatf(_v_att->q);
|
||||
Vector3f z = -_q_trans_start.dcm_z();
|
||||
_trans_rot_axis = z.cross(Vector3f(0, 0, -1));
|
||||
|
||||
// as heading setpoint we choose the heading given by the direction the vehicle points
|
||||
float yaw_sp = atan2f(z(1), z(0));
|
||||
|
||||
// the intial attitude setpoint for a backtransition is a combination of the current fw pitch setpoint,
|
||||
// the yaw setpoint and zero roll since we want wings level transition
|
||||
_q_trans_start = Eulerf(0.0f, _fw_virtual_att_sp->pitch_body, yaw_sp);
|
||||
|
||||
// attitude during transitions are controlled by mc attitude control so rotate the desired attitude to the
|
||||
// multirotor frame
|
||||
_q_trans_start = _q_trans_start * Quatf(Eulerf(0, -M_PI_2_F, 0));
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
|
||||
// initial attitude setpoint for the transition should be with wings level
|
||||
_q_trans_start = Eulerf(0.0f, _mc_virtual_att_sp->pitch_body, _mc_virtual_att_sp->yaw_body);
|
||||
Vector3f x = Dcmf(Quatf(_v_att->q)) * Vector3f(1, 0, 0);
|
||||
_trans_rot_axis = -x.cross(Vector3f(0, 0, -1));
|
||||
}
|
||||
|
||||
_q_trans_sp = _q_trans_start;
|
||||
}
|
||||
|
||||
// tilt angle (zero if vehicle nose points up (hover))
|
||||
float tilt = acosf(_q_trans_sp(0) * _q_trans_sp(0) - _q_trans_sp(1) * _q_trans_sp(1) - _q_trans_sp(2) * _q_trans_sp(
|
||||
2) + _q_trans_sp(3) * _q_trans_sp(3));
|
||||
|
||||
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
|
||||
|
||||
// create time dependant pitch angle set point + 0.2 rad overlap over the switch value
|
||||
_v_att_sp->pitch_body = _pitch_transition_start - fabsf(PITCH_TRANSITION_FRONT_P1 - _pitch_transition_start) *
|
||||
time_since_trans_start / _params->front_trans_duration;
|
||||
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
|
||||
_pitch_transition_start);
|
||||
const float trans_pitch_rate = M_PI_2_F / _params->front_trans_duration;
|
||||
|
||||
// disable mc yaw control once the plane has picked up speed
|
||||
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
|
||||
_mc_yaw_weight = 0.0f;
|
||||
|
||||
} else {
|
||||
_mc_yaw_weight = 1.0f;
|
||||
if (tilt < M_PI_2_F - _params_tailsitter.fw_pitch_sp_offset) {
|
||||
_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
|
||||
time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
}
|
||||
|
||||
_mc_roll_weight = 1.0f;
|
||||
_mc_pitch_weight = 1.0f;
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
|
||||
|
||||
const float trans_pitch_rate = M_PI_2_F / _params->back_trans_duration;
|
||||
|
||||
if (!flag_idle_mc) {
|
||||
flag_idle_mc = set_idle_mc();
|
||||
}
|
||||
|
||||
// create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value
|
||||
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f) *
|
||||
time_since_trans_start / _params->back_trans_duration;
|
||||
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);
|
||||
|
||||
// keep yaw disabled
|
||||
_mc_yaw_weight = 0.0f;
|
||||
|
||||
// smoothly move control weight to MC
|
||||
_mc_roll_weight = _mc_pitch_weight = time_since_trans_start / _params->back_trans_duration;
|
||||
|
||||
if (tilt > 0.01f) {
|
||||
_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
|
||||
time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
}
|
||||
}
|
||||
|
||||
if (_v_control_mode->flag_control_climb_rate_enabled) {
|
||||
_v_att_sp->thrust = _params->front_trans_throttle;
|
||||
_v_att_sp->thrust_body[2] = _mc_virtual_att_sp->thrust_body[2];
|
||||
|
||||
} else {
|
||||
_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
|
||||
}
|
||||
|
||||
_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
|
||||
_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
|
||||
_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
|
||||
|
||||
// compute desired attitude and thrust setpoint for the transition
|
||||
_mc_roll_weight = 1.0f;
|
||||
_mc_pitch_weight = 1.0f;
|
||||
_mc_yaw_weight = 1.0f;
|
||||
|
||||
_v_att_sp->timestamp = hrt_absolute_time();
|
||||
_v_att_sp->roll_body = 0.0f;
|
||||
_v_att_sp->yaw_body = _yaw_transition;
|
||||
|
||||
matrix::Quatf q_sp = matrix::Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body);
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
const Eulerf euler_sp(_q_trans_sp);
|
||||
_v_att_sp->roll_body = euler_sp.phi();
|
||||
_v_att_sp->pitch_body = euler_sp.theta();
|
||||
_v_att_sp->yaw_body = euler_sp.psi();
|
||||
|
||||
_q_trans_sp.copyTo(_v_att_sp->q_d);
|
||||
_v_att_sp->q_d_valid = true;
|
||||
}
|
||||
|
||||
void Tailsitter::waiting_on_tecs()
|
||||
{
|
||||
// copy the last trust value from the front transition
|
||||
_v_att_sp->thrust = _thrust_transition;
|
||||
}
|
||||
|
||||
void Tailsitter::update_mc_state()
|
||||
{
|
||||
VtolType::update_mc_state();
|
||||
_v_att_sp->thrust_body[0] = _thrust_transition;
|
||||
}
|
||||
|
||||
void Tailsitter::update_fw_state()
|
||||
{
|
||||
VtolType::update_fw_state();
|
||||
|
||||
// allow fw yawrate control via multirotor roll actuation. this is useful for vehicles
|
||||
// which don't have a rudder to coordinate turns
|
||||
if (_params->diff_thrust == 1) {
|
||||
_mc_roll_weight = 1.0f;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -272,67 +280,30 @@ void Tailsitter::fill_actuator_outputs()
|
|||
_actuators_out_1->timestamp = hrt_absolute_time();
|
||||
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
|
||||
|
||||
switch (_vtol_mode) {
|
||||
case ROTARY_WING:
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW];
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
|
||||
* _mc_roll_weight;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
|
||||
_mc_yaw_weight;
|
||||
|
||||
if (_params->elevons_mc_lock) {
|
||||
_actuators_out_1->control[0] = 0;
|
||||
_actuators_out_1->control[1] = 0;
|
||||
|
||||
} else {
|
||||
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case FIXED_WING:
|
||||
// in fixed wing mode we use engines only for providing thrust, no moments are generated
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
|
||||
if (_vtol_schedule.flight_mode == FW_MODE) {
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
|
||||
} else {
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
}
|
||||
|
||||
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == MC_MODE) {
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0;
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0;
|
||||
|
||||
} else {
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
|
||||
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
|
||||
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH]; // pitch elevon
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
|
||||
break;
|
||||
|
||||
case TRANSITION_TO_FW:
|
||||
case TRANSITION_TO_MC:
|
||||
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
|
||||
* _mc_roll_weight;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
|
||||
_mc_yaw_weight;
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
|
||||
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]
|
||||
* (1 - _mc_yaw_weight);
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
|
||||
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
|
||||
// **LATER** + (_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);
|
||||
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
break;
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
|
||||
}
|
||||
}
|
||||
|
|
|
@ -46,30 +46,32 @@
|
|||
#include <perf/perf_counter.h> /** is it necsacery? **/
|
||||
#include <parameters/param.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <matrix/matrix/math.hpp>
|
||||
|
||||
class Tailsitter : public VtolType
|
||||
{
|
||||
|
||||
public:
|
||||
Tailsitter(VtolAttitudeControl *_att_controller);
|
||||
~Tailsitter() = default;
|
||||
~Tailsitter() override = default;
|
||||
|
||||
virtual void update_vtol_state();
|
||||
virtual void update_transition_state();
|
||||
virtual void update_mc_state();
|
||||
virtual void update_fw_state();
|
||||
virtual void fill_actuator_outputs();
|
||||
virtual void waiting_on_tecs();
|
||||
void update_vtol_state() override;
|
||||
void update_transition_state() override;
|
||||
void update_fw_state() override;
|
||||
void fill_actuator_outputs() override;
|
||||
void waiting_on_tecs() override;
|
||||
|
||||
private:
|
||||
|
||||
struct {
|
||||
float front_trans_dur_p2;
|
||||
} _params_tailsitter;
|
||||
float fw_pitch_sp_offset;
|
||||
} _params_tailsitter{};
|
||||
|
||||
struct {
|
||||
param_t front_trans_dur_p2;
|
||||
} _params_handles_tailsitter;
|
||||
param_t fw_pitch_sp_offset;
|
||||
} _params_handles_tailsitter{};
|
||||
|
||||
enum vtol_mode {
|
||||
MC_MODE = 0, /**< vtol is in multicopter mode */
|
||||
|
@ -83,14 +85,11 @@ private:
|
|||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
} _vtol_schedule;
|
||||
|
||||
float _thrust_transition_start; // throttle value when we start the front transition
|
||||
float _yaw_transition; // yaw angle in which transition will take place
|
||||
float _pitch_transition_start; // pitch angle at the start of transition (tailsitter)
|
||||
matrix::Quatf _q_trans_start;
|
||||
matrix::Quatf _q_trans_sp;
|
||||
matrix::Vector3f _trans_rot_axis;
|
||||
|
||||
/**
|
||||
* Update parameters.
|
||||
*/
|
||||
virtual void parameters_update();
|
||||
void parameters_update() override;
|
||||
|
||||
};
|
||||
#endif
|
||||
|
|
|
@ -45,8 +45,7 @@
|
|||
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
|
||||
|
||||
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
|
||||
VtolType(attc),
|
||||
_tilt_control(0.0f)
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
|
@ -61,8 +60,6 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
|
|||
_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
|
||||
_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
|
||||
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
|
||||
_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
|
||||
_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
|
||||
}
|
||||
|
||||
void
|
||||
|
@ -85,16 +82,10 @@ Tiltrotor::parameters_update()
|
|||
/* vtol front transition phase 2 duration */
|
||||
param_get(_params_handles_tiltrotor.front_trans_dur_p2, &v);
|
||||
_params_tiltrotor.front_trans_dur_p2 = v;
|
||||
|
||||
param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
|
||||
|
||||
param_get(_params_handles_tiltrotor.diff_thrust_scale, &v);
|
||||
_params_tiltrotor.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
void Tiltrotor::update_vtol_state()
|
||||
{
|
||||
|
||||
/* simple logic using a two way switch to perform transitions.
|
||||
* after flipping the switch the vehicle will start tilting rotors, picking up
|
||||
* forward speed. After the vehicle has picked up enough speed the rotors are tilted
|
||||
|
@ -270,7 +261,7 @@ void Tiltrotor::update_transition_state()
|
|||
_mc_yaw_weight = _mc_roll_weight;
|
||||
}
|
||||
|
||||
_thrust_transition = _mc_virtual_att_sp->thrust;
|
||||
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
|
||||
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
|
||||
|
@ -289,7 +280,7 @@ void Tiltrotor::update_transition_state()
|
|||
_motor_state = set_motor_state(_motor_state, VALUE, rear_value);
|
||||
|
||||
|
||||
_thrust_transition = _mc_virtual_att_sp->thrust;
|
||||
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
|
||||
if (_motor_state != ENABLED) {
|
||||
|
@ -335,7 +326,7 @@ void Tiltrotor::update_transition_state()
|
|||
void Tiltrotor::waiting_on_tecs()
|
||||
{
|
||||
// keep multicopter thrust until we get data from TECS
|
||||
_v_att_sp->thrust = _thrust_transition;
|
||||
_v_att_sp->thrust_body[0] = _thrust_transition;
|
||||
}
|
||||
|
||||
/**
|
||||
|
@ -358,9 +349,9 @@ void Tiltrotor::fill_actuator_outputs()
|
|||
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
|
||||
|
||||
/* allow differential thrust if enabled */
|
||||
if (_params_tiltrotor.diff_thrust == 1) {
|
||||
if (_params->diff_thrust == 1) {
|
||||
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params_tiltrotor.diff_thrust_scale;
|
||||
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
|
||||
}
|
||||
|
||||
} else {
|
||||
|
|
|
@ -50,14 +50,14 @@ class Tiltrotor : public VtolType
|
|||
public:
|
||||
|
||||
Tiltrotor(VtolAttitudeControl *_att_controller);
|
||||
~Tiltrotor() = default;
|
||||
~Tiltrotor() override = default;
|
||||
|
||||
virtual void update_vtol_state();
|
||||
virtual void update_transition_state();
|
||||
virtual void fill_actuator_outputs();
|
||||
virtual void update_mc_state();
|
||||
virtual void update_fw_state();
|
||||
virtual void waiting_on_tecs();
|
||||
void update_vtol_state() override;
|
||||
void update_transition_state() override;
|
||||
void fill_actuator_outputs() override;
|
||||
void update_mc_state() override;
|
||||
void update_fw_state() override;
|
||||
void waiting_on_tecs() override;
|
||||
|
||||
private:
|
||||
|
||||
|
@ -66,8 +66,6 @@ private:
|
|||
float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
|
||||
float tilt_fw; /**< actuator value corresponding to fw tilt */
|
||||
float front_trans_dur_p2;
|
||||
int32_t diff_thrust;
|
||||
float diff_thrust_scale;
|
||||
} _params_tiltrotor;
|
||||
|
||||
struct {
|
||||
|
@ -75,8 +73,6 @@ private:
|
|||
param_t tilt_transition;
|
||||
param_t tilt_fw;
|
||||
param_t front_trans_dur_p2;
|
||||
param_t diff_thrust;
|
||||
param_t diff_thrust_scale;
|
||||
} _params_handles_tiltrotor;
|
||||
|
||||
enum vtol_mode {
|
||||
|
@ -99,12 +95,9 @@ private:
|
|||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
} _vtol_schedule;
|
||||
|
||||
float _tilt_control; /**< actuator value for the tilt servo */
|
||||
float _tilt_control{0.0f}; /**< actuator value for the tilt servo */
|
||||
|
||||
/**
|
||||
* Update parameters.
|
||||
*/
|
||||
virtual void parameters_update();
|
||||
void parameters_update() override;
|
||||
|
||||
};
|
||||
#endif
|
||||
|
|
|
@ -85,28 +85,3 @@ PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
|
|||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
|
||||
|
||||
/**
|
||||
* Differential thrust in forwards flight.
|
||||
*
|
||||
* Set to 1 to enable differential thrust in fixed-wing flight.
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
|
||||
|
||||
/**
|
||||
* Differential thrust scaling factor
|
||||
*
|
||||
* This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);
|
||||
|
|
|
@ -86,6 +86,8 @@ VtolAttitudeControl::VtolAttitudeControl()
|
|||
_params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
|
||||
_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
|
||||
_params_handles.fw_motors_off = param_find("VT_FW_MOT_OFFID");
|
||||
_params_handles.diff_thrust = param_find("VT_FW_DIFTHR_EN");
|
||||
_params_handles.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
|
||||
|
||||
/* fetch initial parameter values */
|
||||
parameters_update();
|
||||
|
@ -486,6 +488,10 @@ VtolAttitudeControl::parameters_update()
|
|||
param_get(_params_handles.front_trans_timeout, &_params.front_trans_timeout);
|
||||
param_get(_params_handles.mpc_xy_cruise, &_params.mpc_xy_cruise);
|
||||
param_get(_params_handles.fw_motors_off, &_params.fw_motors_off);
|
||||
param_get(_params_handles.diff_thrust, &_params.diff_thrust);
|
||||
|
||||
param_get(_params_handles.diff_thrust_scale, &v);
|
||||
_params.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
|
||||
|
||||
// standard vtol always needs to turn all mc motors off when going into fixed wing mode
|
||||
// normally the parameter fw_motors_off can be used to specify this, however, since historically standard vtol code
|
||||
|
@ -506,52 +512,6 @@ VtolAttitudeControl::parameters_update()
|
|||
return OK;
|
||||
}
|
||||
|
||||
/**
|
||||
* Prepare message for mc attitude rates setpoint topic
|
||||
*/
|
||||
void VtolAttitudeControl::fill_mc_att_rates_sp()
|
||||
{
|
||||
bool updated;
|
||||
orb_check(_mc_virtual_v_rates_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
vehicle_rates_setpoint_s v_rates_sp;
|
||||
|
||||
if (orb_copy(ORB_ID(mc_virtual_rates_setpoint), _mc_virtual_v_rates_sp_sub, &v_rates_sp) == PX4_OK) {
|
||||
// publish the attitude rates setpoint
|
||||
if (_v_rates_sp_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &v_rates_sp);
|
||||
|
||||
} else {
|
||||
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &v_rates_sp);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Prepare message for fw attitude rates setpoint topic
|
||||
*/
|
||||
void VtolAttitudeControl::fill_fw_att_rates_sp()
|
||||
{
|
||||
bool updated;
|
||||
orb_check(_fw_virtual_v_rates_sp_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
vehicle_rates_setpoint_s v_rates_sp;
|
||||
|
||||
if (orb_copy(ORB_ID(fw_virtual_rates_setpoint), _fw_virtual_v_rates_sp_sub, &v_rates_sp) == PX4_OK) {
|
||||
// publish the attitude rates setpoint
|
||||
if (_v_rates_sp_pub != nullptr) {
|
||||
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &v_rates_sp);
|
||||
|
||||
} else {
|
||||
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &v_rates_sp);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
VtolAttitudeControl::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
|
@ -567,8 +527,6 @@ void VtolAttitudeControl::task_main()
|
|||
_v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
|
||||
_mc_virtual_att_sp_sub = orb_subscribe(ORB_ID(mc_virtual_attitude_setpoint));
|
||||
_fw_virtual_att_sp_sub = orb_subscribe(ORB_ID(fw_virtual_attitude_setpoint));
|
||||
_mc_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(mc_virtual_rates_setpoint));
|
||||
_fw_virtual_v_rates_sp_sub = orb_subscribe(ORB_ID(fw_virtual_rates_setpoint));
|
||||
_v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
_v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
|
||||
_params_sub = orb_subscribe(ORB_ID(parameter_update));
|
||||
|
@ -680,7 +638,6 @@ void VtolAttitudeControl::task_main()
|
|||
|
||||
// got data from mc attitude controller
|
||||
_vtol_type->update_mc_state();
|
||||
fill_mc_att_rates_sp();
|
||||
|
||||
} else if (_vtol_type->get_mode() == FIXED_WING) {
|
||||
|
||||
|
@ -692,7 +649,6 @@ void VtolAttitudeControl::task_main()
|
|||
_vtol_vehicle_status.in_transition_to_fw = false;
|
||||
|
||||
_vtol_type->update_fw_state();
|
||||
fill_fw_att_rates_sp();
|
||||
|
||||
} else if (_vtol_type->get_mode() == TRANSITION_TO_MC || _vtol_type->get_mode() == TRANSITION_TO_FW) {
|
||||
|
||||
|
@ -705,7 +661,6 @@ void VtolAttitudeControl::task_main()
|
|||
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == TRANSITION_TO_FW);
|
||||
|
||||
_vtol_type->update_transition_state();
|
||||
fill_mc_att_rates_sp();
|
||||
}
|
||||
|
||||
_vtol_type->fill_actuator_outputs();
|
||||
|
|
|
@ -76,7 +76,6 @@
|
|||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_local_position_setpoint.h>
|
||||
#include <uORB/topics/position_setpoint_triplet.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/vtol_vehicle_status.h>
|
||||
|
||||
#include "tiltrotor.h"
|
||||
|
@ -128,13 +127,11 @@ private:
|
|||
int _actuator_inputs_mc{-1}; //topic on which the mc_att_controller publishes actuator inputs
|
||||
int _airspeed_sub{-1}; // airspeed subscription
|
||||
int _fw_virtual_att_sp_sub{-1};
|
||||
int _fw_virtual_v_rates_sp_sub{-1}; //vehicle rates setpoint subscription
|
||||
int _land_detected_sub{-1};
|
||||
int _local_pos_sp_sub{-1}; // setpoint subscription
|
||||
int _local_pos_sub{-1}; // sensor subscription
|
||||
int _manual_control_sp_sub{-1}; //manual control setpoint subscription
|
||||
int _mc_virtual_att_sp_sub{-1};
|
||||
int _mc_virtual_v_rates_sp_sub{-1}; //vehicle rates setpoint subscription
|
||||
int _params_sub{-1}; //parameter updates subscription
|
||||
int _pos_sp_triplet_sub{-1}; // local position setpoint subscription
|
||||
int _tecs_status_sub{-1};
|
||||
|
@ -148,7 +145,6 @@ private:
|
|||
orb_advert_t _mavlink_log_pub{nullptr}; // mavlink log uORB handle
|
||||
orb_advert_t _v_att_sp_pub{nullptr};
|
||||
orb_advert_t _v_cmd_ack_pub{nullptr};
|
||||
orb_advert_t _v_rates_sp_pub{nullptr};
|
||||
orb_advert_t _vtol_vehicle_status_pub{nullptr};
|
||||
orb_advert_t _actuators_1_pub{nullptr};
|
||||
|
||||
|
@ -199,6 +195,8 @@ private:
|
|||
param_t front_trans_timeout;
|
||||
param_t mpc_xy_cruise;
|
||||
param_t fw_motors_off;
|
||||
param_t diff_thrust;
|
||||
param_t diff_thrust_scale;
|
||||
} _params_handles{};
|
||||
|
||||
/* for multicopters it is usual to have a non-zero idle speed of the engines
|
||||
|
@ -229,10 +227,7 @@ private:
|
|||
void vehicle_local_pos_poll(); // Check for changes in sensor values
|
||||
void vehicle_local_pos_sp_poll(); // Check for changes in setpoint values
|
||||
|
||||
int parameters_update(); //Update local paraemter cache
|
||||
|
||||
void fill_mc_att_rates_sp();
|
||||
void fill_fw_att_rates_sp();
|
||||
int parameters_update(); //Update local parameter cache
|
||||
|
||||
void handle_command();
|
||||
};
|
||||
|
|
|
@ -289,3 +289,39 @@ PARAM_DEFINE_FLOAT(VT_F_TR_OL_TM, 6.0f);
|
|||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_MOT_OFFID, 0);
|
||||
|
||||
/**
|
||||
* Differential thrust in forwards flight.
|
||||
*
|
||||
* Set to 1 to enable differential thrust in fixed-wing flight.
|
||||
*
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @decimal 0
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
|
||||
|
||||
/**
|
||||
* Differential thrust scaling factor
|
||||
*
|
||||
* This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
|
||||
*
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);
|
||||
|
||||
/**
|
||||
* Airspeed rules regarding fixed wing control surface scaling.
|
||||
*
|
||||
* @value 0 No special rules
|
||||
* @value 1 During hover (excluding transitions) use the lowest possible airspeed value.
|
||||
* @min 0.0
|
||||
* @increment 1
|
||||
* @group VTOL Attitude Control
|
||||
*/
|
||||
PARAM_DEFINE_INT32(VT_AIRSPD_RULE, 0);
|
||||
|
|
|
@ -68,6 +68,8 @@ struct Params {
|
|||
float front_trans_timeout;
|
||||
float mpc_xy_cruise;
|
||||
int32_t fw_motors_off; /**< bitmask of all motors that should be off in fixed wing mode */
|
||||
int32_t diff_thrust;
|
||||
float diff_thrust_scale;
|
||||
};
|
||||
|
||||
// Has to match 1:1 msg/vtol_vehicle_status.msg
|
||||
|
|
|
@ -37,7 +37,7 @@ bool ControlMathTest::testThrAttMapping()
|
|||
ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.yaw_body < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
|
||||
|
||||
/* expected: same as before but with 90 yaw
|
||||
* reason: only yaw changed
|
||||
|
@ -47,7 +47,7 @@ bool ControlMathTest::testThrAttMapping()
|
|||
ut_assert_true(att.roll_body < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
|
||||
|
||||
/* expected: same as before but roll 180
|
||||
* reason: thrust points straight down and order Euler
|
||||
|
@ -58,7 +58,7 @@ bool ControlMathTest::testThrAttMapping()
|
|||
ut_assert_true(fabsf(att.roll_body) - M_PI_F < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(fabsf(att.pitch_body) < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(att.thrust - 1.0f < SIGMA_SINGLE_OP);
|
||||
ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
|
||||
|
||||
/* TODO: find a good way to test it */
|
||||
|
||||
|
|
Loading…
Reference in New Issue