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px4-firmware
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replaced tiltrotor defines by parameters

This commit is contained in:
tumbili 2015-08-11 10:16:11 +02:00
parent b3613dea83
commit c21dd735ed
3 changed files with 39 additions and 11 deletions
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32
src/modules/vtol_att_control/tiltrotor.cpp
View File

@ -41,15 +41,15 @@
#include "tiltrotor.h"
#include "vtol_att_control_main.h"
#define ARSP_BLEND_START 8.0f // airspeed at which we start blending mc/fw controls
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define DELTA 0.5f // the time it should take to tilt the rotors forward completly after the airspeed
// for transitioning into fixed wing mode has been reached
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
VtolType(attc),
_rear_motors(ENABLED),
_tilt_control(0.0f)
_tilt_control(0.0f),
_roll_weight_mc(1.0f),
_yaw_weight_mc(1.0f),
_min_front_trans_dur(0.5f)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.transition_start = 0;
@ -64,7 +64,9 @@ _tilt_control(0.0f)
_params_handles_tiltrotor.tilt_transition = param_find("VT_TILT_TRANS");
_params_handles_tiltrotor.tilt_fw = param_find("VT_TILT_FW");
_params_handles_tiltrotor.airspeed_trans = param_find("VT_ARSP_TRANS");
_params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND");
_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
}
Tiltrotor::~Tiltrotor()
@ -102,15 +104,23 @@ Tiltrotor::parameters_update()
param_get(_params_handles_tiltrotor.airspeed_trans, &v);
_params_tiltrotor.airspeed_trans = v;
/* vtol airspeed at which we start blending mc/fw controls */
param_get(_params_handles_tiltrotor.airspeed_blend_start, &v);
_params_tiltrotor.airspeed_blend_start = v;
/* vtol lock elevons in multicopter */
param_get(_params_handles_tiltrotor.elevons_mc_lock, &l);
_params_tiltrotor.elevons_mc_lock = l;
/* avoid parameters which will lead to zero division in the transition code */
_params.front_trans_dur = math::constrain(_params.front_trans_dur, 0.5f, 10.0f);
/* vtol front transition phase 2 duration */
param_get(_params_handles_tiltrotor.front_trans_dur_p2, &v);
_params_tiltrotor.front_trans_dur_p2 = v;
if (fabsf(_params.airspeed_trans - ARSP_BLEND_START) < 1.0f ) {
_params.airspeed_trans = ARSP_BLEND_START + 1.0f;
/* avoid parameters which will lead to zero division in the transition code */
_params_tiltrotor.front_trans_dur = math::max(_params_tiltrotor.front_trans_dur, _min_front_trans_dur);
if ( _params_tiltrotor.airspeed_trans < _params_tiltrotor.airspeed_blend_start + 1.0f ) {
_params_tiltrotor.airspeed_trans = _params_tiltrotor.airspeed_blend_start + 1.0f;
}
return OK;
@ -253,8 +263,8 @@ void Tiltrotor::update_transition_state()
}
// do blending of mc and fw controls
if (_airspeed->true_airspeed_m_s >= ARSP_BLEND_START) {
_mc_roll_weight = 1.0f - (_airspeed->true_airspeed_m_s - ARSP_BLEND_START) / (_params_tiltrotor.airspeed_trans - ARSP_BLEND_START);
if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 1.0f - (_airspeed->true_airspeed_m_s - _params_tiltrotor.airspeed_blend_start) / (_params_tiltrotor.airspeed_trans - _params_tiltrotor.airspeed_blend_start);
} else {
// at low speeds give full weight to mc
_mc_roll_weight = 1.0f;
@ -269,7 +279,7 @@ void Tiltrotor::update_transition_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = _params_tiltrotor.tilt_transition +
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(DELTA*1000000.0f);
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition)*(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur_p2*1000000.0f);
_mc_roll_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
if (_rear_motors != IDLE) {

6
src/modules/vtol_att_control/tiltrotor.h
View File

@ -86,7 +86,9 @@ private:
float tilt_transition; /**< actuator value corresponding to transition tilt (e.g 45 degrees) */
float tilt_fw; /**< actuator value corresponding to fw tilt */
float airspeed_trans; /**< airspeed at which we switch to fw mode after transition */
float airspeed_blend_start; /**< airspeed at which we start blending mc/fw controls */
int elevons_mc_lock; /**< lock elevons in multicopter mode */
float front_trans_dur_p2;
} _params_tiltrotor;
struct {
@ -96,7 +98,9 @@ private:
param_t tilt_transition;
param_t tilt_fw;
param_t airspeed_trans;
param_t airspeed_blend_start;
param_t elevons_mc_lock;
param_t front_trans_dur_p2;
} _params_handles_tiltrotor;
enum vtol_mode {
@ -127,6 +131,8 @@ private:
float _roll_weight_mc; /**< multicopter desired roll moment weight */
float _yaw_weight_mc; /**< multicopter desired yaw moment weight */
const float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
/**
* Write control values to actuator output topics.
*/

12
src/modules/vtol_att_control/tiltrotor_params.c
View File

@ -72,3 +72,15 @@ PARAM_DEFINE_FLOAT(VT_TILT_TRANS, 0.3f);
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TILT_FW, 1.0f);
/**
* Duration of front transition phase 2
*
* Time in seconds it should take for the rotors to rotate forward completely from the point
* when the plane has picked up enough airspeed and is ready to go into fixed wind mode.
*
* @min 0.1
* @max 2
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);