VTOL: remove pusher reverse feature

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -122,16 +122,12 @@ param set-default VT_TRANS_MIN_TM 15
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_SC 4
 param set-default VT_F_TRANS_DUR 1
-param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4
 
 param set-default COM_RC_OVERRIDE 0
 
-
-
-
 param set-default CA_AIRFRAME 2
 
 param set-default CA_ROTOR_COUNT 5

src/modules/navigator/mission_block.cpp

@@ -348,10 +348,9 @@ MissionBlock::is_mission_item_reached_or_completed()
 						       _navigator->get_local_position()->vy * _navigator->get_local_position()->vy);
 
 				const float back_trans_dec = _navigator->get_vtol_back_trans_deceleration();
-				const float reverse_delay = _navigator->get_vtol_reverse_delay();
 
 				if (back_trans_dec > FLT_EPSILON && velocity > FLT_EPSILON) {
-					acceptance_radius = ((velocity / back_trans_dec / 2) * velocity) + reverse_delay * velocity;
+					acceptance_radius = (velocity / back_trans_dec / 2) * velocity;
 
 				}
 

src/modules/navigator/navigator.h

@@ -314,7 +314,6 @@ public:
 	float get_lndmc_alt_max() const { return _param_lndmc_alt_max.get(); }
 
 	float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
-	float get_vtol_reverse_delay() const { return _param_reverse_delay; }
 
 	bool force_vtol();
 
@@ -401,12 +400,10 @@ private:
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE] {};	/**< array of navigation modes */
 
 	param_t _handle_back_trans_dec_mss{PARAM_INVALID};
-	param_t _handle_reverse_delay{PARAM_INVALID};
 	param_t _handle_mpc_jerk_auto{PARAM_INVALID};
 	param_t _handle_mpc_acc_hor{PARAM_INVALID};
 
 	float _param_back_trans_dec_mss{0.f};
-	float _param_reverse_delay{0.f};
 	float _param_mpc_jerk_auto{4.f}; 	/**< initialized with the default jerk auto value to prevent division by 0 if the parameter is accidentally set to 0 */
 	float _param_mpc_acc_hor{3.f};		/**< initialized with the default horizontal acc value to prevent division by 0 if the parameter is accidentally set to 0 */
 

src/modules/navigator/navigator_main.cpp

@@ -96,7 +96,6 @@ Navigator::Navigator() :
 	}
 
 	_handle_back_trans_dec_mss = param_find("VT_B_DEC_MSS");
-	_handle_reverse_delay = param_find("VT_B_REV_DEL");
 
 	_handle_mpc_jerk_auto = param_find("MPC_JERK_AUTO");
 	_handle_mpc_acc_hor = param_find("MPC_ACC_HOR");
@@ -127,10 +126,6 @@ void Navigator::params_update()
 		param_get(_handle_back_trans_dec_mss, &_param_back_trans_dec_mss);
 	}
 
-	if (_handle_reverse_delay != PARAM_INVALID) {
-		param_get(_handle_reverse_delay, &_param_reverse_delay);
-	}
-
 	if (_handle_mpc_jerk_auto != PARAM_INVALID) {
 		param_get(_handle_mpc_jerk_auto, &_param_mpc_jerk_auto);
 	}

src/modules/vtol_att_control/standard.cpp

@@ -76,7 +76,6 @@ void Standard::update_vtol_state()
 		// Failsafe event, engage mc motors immediately
 		_vtol_mode = vtol_mode::MC_MODE;
 		_pusher_throttle = 0.0f;
-		_reverse_output = 0.0f;
 
 	} else if (!_attc->is_fixed_wing_requested()) {
 
@@ -85,20 +84,17 @@ void Standard::update_vtol_state()
 			// in mc mode
 			_vtol_mode = vtol_mode::MC_MODE;
 			mc_weight = 1.0f;
-			_reverse_output = 0.0f;
 
 		} else if (_vtol_mode == vtol_mode::FW_MODE) {
 			// Regular backtransition
 			resetTransitionStates();
 			_vtol_mode = vtol_mode::TRANSITION_TO_MC;
-			_reverse_output = _param_vt_b_rev_out.get();
 
 		} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
 			// failsafe back to mc mode
 			_vtol_mode = vtol_mode::MC_MODE;
 			mc_weight = 1.0f;
 			_pusher_throttle = 0.0f;
-			_reverse_output = 0.0f;
 
 		} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
 			// speed exit condition: use ground if valid, otherwise airspeed
@@ -250,12 +246,6 @@ void Standard::update_transition_state()
 
 		_pusher_throttle = 0.0f;
 
-		if (_time_since_trans_start >= _param_vt_b_rev_del.get()) {
-			// Handle throttle reversal for active breaking
-			_pusher_throttle = math::constrain((_time_since_trans_start - _param_vt_b_rev_del.get())
-							   * _param_vt_psher_slew.get(), 0.0f, _param_vt_b_trans_thr.get());
-		}
-
 		// continually increase mc attitude control as we transition back to mc mode
 		if (_param_vt_b_trans_ramp.get() > FLT_EPSILON) {
 			mc_weight = _time_since_trans_start / _param_vt_b_trans_ramp.get();
@@ -335,7 +325,6 @@ void Standard::fill_actuator_outputs()
 		fw_out[actuator_controls_s::INDEX_THROTTLE]     = _pusher_throttle;
 		fw_out[actuator_controls_s::INDEX_FLAPS]        = _flaps_setpoint_with_slewrate.getState();
 		fw_out[actuator_controls_s::INDEX_SPOILERS]    	= _spoiler_setpoint_with_slewrate.getState();
-		fw_out[actuator_controls_s::INDEX_AIRBRAKES]    = _reverse_output;
 
 		break;
 

src/modules/vtol_att_control/standard.h

@@ -75,7 +75,6 @@ private:
 	vtol_mode _vtol_mode{vtol_mode::MC_MODE};			/**< vtol flight mode, defined by enum vtol_mode */
 
 	float _pusher_throttle{0.0f};
-	float _reverse_output{0.0f};
 	float _airspeed_trans_blend_margin{0.0f};
 
 	void parameters_update() override;
@@ -83,9 +82,7 @@ private:
 	DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
 					(ParamFloat<px4::params::VT_PSHER_SLEW>) _param_vt_psher_slew,
 					(ParamFloat<px4::params::VT_B_TRANS_RAMP>) _param_vt_b_trans_ramp,
-					(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
+					(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off
-					(ParamFloat<px4::params::VT_B_REV_OUT>) _param_vt_b_rev_out,
-					(ParamFloat<px4::params::VT_B_REV_DEL>) _param_vt_b_rev_del
 				       )
 };
 #endif

src/modules/vtol_att_control/standard_params.c

@@ -87,32 +87,6 @@ PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.7f);
  */
 PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);
 
-/**
- * Reverse thrust output during back transition
- *
- * @min 0
- * @max 1
- * @increment 0.01
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
-
-
-/**
- * Delay in seconds before applying back transition throttle
- *
- * Set this to a value greater than 0 to give the motor time to spin down.
- *
- * @unit s
- * @min 0
- * @max 10
- * @increment 1
- * @decimal 2
- * @group VTOL Attitude Control
- */
-PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
-
 /**
  * Pusher throttle ramp up slew rate
  *