replaced tiltrotor defines by parameters

src/modules/vtol_att_control/tiltrotor.cpp

@@ -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 */
+	/* vtol front transition phase 2 duration */
-	_params.front_trans_dur = math::constrain(_params.front_trans_dur, 0.5f, 10.0f);
+	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 ) {
+	/* avoid parameters which will lead to zero division in the transition code */
-		_params.airspeed_trans = ARSP_BLEND_START + 1.0f;
+	_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) {
+		if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
-			_mc_roll_weight = 1.0f - (_airspeed->true_airspeed_m_s - ARSP_BLEND_START) / (_params_tiltrotor.airspeed_trans - ARSP_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) {

src/modules/vtol_att_control/tiltrotor.h

@@ -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.
 	 */

src/modules/vtol_att_control/tiltrotor_params.c

@@ -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);