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TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling 

During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle
the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing
the motor output to max.
Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
a thrust spike when the transition is initiated (as then the tilt is fully forward).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-08-10 13:02:11 +02:00 committed by Daniel Agar
parent 2d3238dfbe
commit b8c541dd72
1 changed files with 11 additions and 0 deletions
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11
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
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@ -137,6 +137,17 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
_last_collective_tilt_control = control_collective_tilt;
}
// During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness
// of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max.
// Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid
// a thrust spike when the transition is initiated (as then the tilt is fully forward).
if (_flight_phase == FlightPhase::TRANSITION_HF_TO_FF) {
_last_collective_tilt_control = math::constrain(_last_collective_tilt_control, -1.f, 0.f);
} else if (_flight_phase == FlightPhase::TRANSITION_FF_TO_HF) {
_last_collective_tilt_control = -1.f;
}
for (int i = 0; i < _tilts.count(); ++i) {
if (_tilts.config(i).tilt_direction == ActuatorEffectivenessTilts::TiltDirection::TowardsFront) {
actuator_sp(i + _first_tilt_idx) += control_collective_tilt;