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FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-12-06 14:14:44 +01:00
parent 1f2a0bc657
commit 9e0c8fd75e
14 changed files with 35 additions and 19 deletions
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2
ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
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@ -34,7 +34,7 @@ param set-default CBRK_IO_SAFETY 22027
param set-default EKF2_GPS_POS_X -0.12
param set-default EKF2_IMU_POS_X -0.12
param set-default FW_ARSP_MODE 1
param set-default FW_USE_AIRSPD 0
param set-default NPFG_PERIOD 25
param set-default FW_PR_FF 0.7
param set-default FW_PR_I 0.18

14
src/lib/parameters/param_translation.cpp
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@ -42,7 +42,21 @@
bool param_modify_on_import(bson_node_t node)
{
// 2023-12-06: translate and invert FW_ARSP_MODE-> FW_USE_AIRSPD
{
if (strcmp("FW_ARSP_MODE", node->name) == 0) {
if (node->i32 == 0) {
node->i32 = 1;
} else {
node->i32 = 0;
}
strcpy(node->name, "FW_USE_AIRSPD");
PX4_INFO("copying and inverting %s -> %s", "FW_ARSP_MODE", "FW_USE_AIRSPD");
return true;
}
}
return false;
}

2
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -150,7 +150,7 @@ float FixedwingAttitudeControl::get_airspeed_constrained()
// if no airspeed measurement is available out best guess is to use the trim airspeed
float airspeed = _param_fw_airspd_trim.get();
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
if (_param_fw_use_airspd.get() && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);

2
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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@ -135,7 +135,7 @@ private:
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamFloat<px4::params::FW_MAN_P_MAX>) _param_fw_man_p_max,
(ParamFloat<px4::params::FW_MAN_R_MAX>) _param_fw_man_r_max,

2
src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@ -205,7 +205,7 @@ FixedwingPositionControl::airspeed_poll()
bool airspeed_valid = _airspeed_valid;
airspeed_validated_s airspeed_validated;
if ((_param_fw_arsp_mode.get() == 0) && _airspeed_validated_sub.update(&airspeed_validated)) {
if (_param_fw_use_airspd.get() && _airspeed_validated_sub.update(&airspeed_validated)) {
_eas2tas = 1.0f; //this is the default value, taken in case of invalid airspeed

2
src/modules/fw_pos_control/FixedwingPositionControl.hpp
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@ -954,7 +954,7 @@ private:
(ParamFloat<px4::params::FW_GPSF_R>) _param_nav_gpsf_r,
// external parameters
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,

2
src/modules/fw_rate_control/FixedwingRateControl.cpp
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@ -162,7 +162,7 @@ float FixedwingRateControl::get_airspeed_and_update_scaling()
// if no airspeed measurement is available out best guess is to use the trim airspeed
float airspeed = _param_fw_airspd_trim.get();
if ((_param_fw_arsp_mode.get() == 0) && airspeed_valid) {
if (_param_fw_use_airspd.get() && airspeed_valid) {
/* prevent numerical drama by requiring 0.5 m/s minimal speed */
airspeed = math::max(0.5f, _airspeed_validated_sub.get().calibrated_airspeed_m_s);

2
src/modules/fw_rate_control/FixedwingRateControl.hpp
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@ -164,7 +164,7 @@ private:
(ParamFloat<px4::params::FW_AIRSPD_MIN>) _param_fw_airspd_min,
(ParamFloat<px4::params::FW_AIRSPD_STALL>) _param_fw_airspd_stall,
(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,

14
src/modules/fw_rate_control/fw_rate_control_params.c
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@ -41,16 +41,18 @@
*/
/**
* Airspeed mode
* Use airspeed for control
*
* On vehicles without airspeed sensor this parameter can be used to
* enable flying without an airspeed reading
* If set to 1, the airspeed measurement data, if valid, is used in the following controllers:
* - Rate controller: output scaling
* - Attitude controller: coordinated turn controller
* - Position controller: airspeed setpoint tracking, takeoff logic
* - VTOL: transition logic
*
* @value 0 Use airspeed in controller
* @value 1 Do not use airspeed in controller
* @boolean
* @group FW Rate Control
*/
PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
PARAM_DEFINE_INT32(FW_USE_AIRSPD, 1);
/**
* Pitch rate proportional gain.

2
src/modules/vtol_att_control/standard.cpp
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@ -217,7 +217,7 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
} else if (!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime();
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);

2
src/modules/vtol_att_control/tailsitter.cpp
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@ -324,7 +324,7 @@ void Tailsitter::fill_actuator_outputs()
bool Tailsitter::isFrontTransitionCompletedBase()
{
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get() ;
&& _param_fw_use_airspd.get();
bool transition_to_fw = false;
const float pitch = Eulerf(Quatf(_v_att->q)).theta();

4
src/modules/vtol_att_control/tiltrotor.cpp
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@ -243,7 +243,7 @@ void Tiltrotor::update_transition_state()
_mc_roll_weight = 1.0f;
_mc_yaw_weight = 1.0f;
if (!_param_fw_arsp_mode.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
(getTransitionAirspeed() - getBlendAirspeed());
@ -252,7 +252,7 @@ void Tiltrotor::update_transition_state()
}
// without airspeed do timed weight changes
if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
if ((!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
_time_since_trans_start > getMinimumFrontTransitionTime()) {
_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());

2
src/modules/vtol_att_control/vtol_type.cpp
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@ -208,7 +208,7 @@ bool VtolType::isFrontTransitionCompletedBase()
{
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_param_fw_arsp_mode.get();
&& _param_fw_use_airspd.get();
const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime();
const bool openloop_trans_time_elapsed = _time_since_trans_start > getOpenLoopFrontTransitionTime();

2
src/modules/vtol_att_control/vtol_type.h
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@ -354,7 +354,7 @@ protected:
(ParamFloat<px4::params::VT_ARSP_TRANS>) _param_vt_arsp_trans,
(ParamFloat<px4::params::VT_F_TRANS_THR>) _param_vt_f_trans_thr,
(ParamFloat<px4::params::VT_ARSP_BLEND>) _param_vt_arsp_blend,
(ParamBool<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
(ParamBool<px4::params::FW_USE_AIRSPD>) _param_fw_use_airspd,
(ParamFloat<px4::params::VT_TRANS_TIMEOUT>) _param_vt_trans_timeout,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,
(ParamInt<px4::params::VT_FW_DIFTHR_EN>) _param_vt_fw_difthr_en,