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VTOL backtransition improvements

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* vtol_type: only allow positive pitch setpoints during backtransition

* vtol params: set default of VT_B_DEC_FF to 0, as for most frames a FF is not necessary

* Tiltrotor: fix throttle during first part of back transition

* Tiltrotor: only enable all motors in second phase of backtransition (tilting phase)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-08-18 13:23:54 +02:00
parent af291e2040
commit 641383cbfb
3 changed files with 13 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+8 -5
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@@ -380,8 +380,6 @@ void Tiltrotor::update_transition_state()
_v_att_sp->thrust_body[0] = _thrust_transition; _v_att_sp->thrust_body[0] = _thrust_transition;
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) { } else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
// turn on all MC motors
set_all_motor_state(motor_state::ENABLED);
// set idle speed for rotary wing mode // set idle speed for rotary wing mode
if (!_flag_idle_mc) { if (!_flag_idle_mc) {
@@ -403,13 +401,18 @@ void Tiltrotor::update_transition_state()
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp(); _v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
} }
// while we quickly rotate back the motors keep throttle at idle
if (time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) { if (time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
// blend throttle from FW value to 0
_mc_throttle_weight = 1.0f; _mc_throttle_weight = 1.0f;
const float target_throttle = 0.0f; const float target_throttle = 0.0f;
blendThrottleDuringBacktransition(time_since_trans_start, target_throttle); const float progress = time_since_trans_start / BACKTRANS_THROTTLE_DOWNRAMP_DUR_S;
blendThrottleDuringBacktransition(progress, target_throttle);
} else if (time_since_trans_start < timeUntilMotorsAreUp()) { } else if (time_since_trans_start < timeUntilMotorsAreUp()) {
// while we quickly rotate back the motors keep throttle at idle
// turn on all MC motors
set_all_motor_state(motor_state::ENABLED);
_mc_throttle_weight = 0.0f; _mc_throttle_weight = 0.0f;
_mc_roll_weight = 0.0f; _mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f; _mc_pitch_weight = 0.0f;
@@ -511,7 +514,7 @@ void Tiltrotor::blendThrottleAfterFrontTransition(float scale)
void Tiltrotor::blendThrottleDuringBacktransition(float scale, float target_throttle) void Tiltrotor::blendThrottleDuringBacktransition(float scale, float target_throttle)
{ {
_v_att_sp->thrust_body[2] = -(scale * target_throttle + (1.0f - scale) * _last_thr_in_fw_mode); _thrust_transition = -(scale * target_throttle + (1.0f - scale) * _last_thr_in_fw_mode);
} }
src/modules/vtol_att_control/vtol_att_control_params.c
+2 -2
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@@ -329,10 +329,10 @@ PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);
* @min 0 * @min 0
* @max 0.2 * @max 0.2
* @decimal 1 * @decimal 1
* @increment 0.05 * @increment 0.01
* @group VTOL Attitude Control * @group VTOL Attitude Control
*/ */
PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.12f); PARAM_DEFINE_FLOAT(VT_B_DEC_FF, 0.f);
/** /**
* Backtransition deceleration setpoint to pitch I gain. * Backtransition deceleration setpoint to pitch I gain.
src/modules/vtol_att_control/vtol_type.cpp
+3 -3
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@@ -231,14 +231,14 @@ float VtolType::update_and_get_backtransition_pitch_sp()
float integrator_input = _params->dec_to_pitch_i * accel_error_forward; float integrator_input = _params->dec_to_pitch_i * accel_error_forward;
if ((pitch_sp_new >= pitch_lim && accel_error_forward > 0.0f) || if ((pitch_sp_new >= pitch_lim && accel_error_forward > 0.0f) ||
(pitch_sp_new <= -pitch_lim && accel_error_forward < 0.0f)) { (pitch_sp_new <= 0.f && accel_error_forward < 0.0f)) {
integrator_input = 0.0f; integrator_input = 0.0f;
} }
_accel_to_pitch_integ += integrator_input * _transition_dt; _accel_to_pitch_integ += integrator_input * _transition_dt;
// only allow positive (pitch up) pitch setpoint
return math::constrain(pitch_sp_new, -pitch_lim, pitch_lim); return math::constrain(pitch_sp_new, 0.f, pitch_lim);
} }
bool VtolType::can_transition_on_ground() bool VtolType::can_transition_on_ground()