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tailsitter auto transition test!
Conflicts: src/modules/vtol_att_control/tailsitter.cpp
This commit is contained in:
davidvor
tumbili
@@ -31,23 +31,49 @@
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*
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****************************************************************************/
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/**
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* @file tailsitter.cpp
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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*
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*/
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/**
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* @file tailsitter.cpp
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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*
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*/
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#include "tailsitter.h"
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#include "vtol_att_control_main.h"
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Tailsitter::Tailsitter(VtolAttitudeControl *att_controller) :
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VtolType(att_controller),
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_airspeed_tot(0),
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_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
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_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
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{
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#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
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#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
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#define PITCH_TRANSITION_FRONT_P1 -0.78f // pitch angle to switch to TRANSITION_P2
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#define PITCH_TRANSITION_FRONT_P2 -1.05f // pitch angle to switch to FW
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#define PITCH_TRANSITION_BACK -0.5f // pitch angle to switch to MC
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Tailsitter::Tailsitter (VtolAttitudeControl *att_controller) :
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/**VtolType(att_controller),*/
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VtolType(attc),
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_roll_weight_mc(1.0f),
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_yaw_weight_mc(1.0f),
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_min_front_trans_dur(0.5f)
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_airspeed_tot(0),
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_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
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_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
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{
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_vtol_schedule.flight_mode = MC_MODE;
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_vtol_schedule.transition_start = 0;
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_mc_roll_weight = 1.0f;
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_mc_pitch_weight = 1.0f;
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_mc_yaw_weight = 1.0f;
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_flag_was_in_trans_mode = false;
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_params_handles_tiltrotor.front_trans_dur = param_find("VT_F_TRANS_DUR");
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_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
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_params_handles_tiltrotor.back_trans_dur = param_find("VT_B_TRANS_DUR");
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_params_handles_tiltrotor.airspeed_trans = param_find("VT_ARSP_TRANS");
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_params_handles_tiltrotor.airspeed_blend_start = param_find("VT_ARSP_BLEND");
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_params_handles_tiltrotor.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
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}
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Tailsitter::~Tailsitter()
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@@ -55,23 +81,153 @@ Tailsitter::~Tailsitter()
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}
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int
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Taulsitter::parameters_update()
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{
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float v;
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int l;
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/* vtol duration of a front transition */
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param_get(_params_handles_tiltrotor.front_trans_dur, &v);
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_params_tiltrotor.front_trans_dur = math::constrain(v,1.0f,5.0f);
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/* vtol front transition phase 2 duration */
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param_get(_params_handles_tiltrotor.front_trans_dur_p2, &v);
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_params_tiltrotor.front_trans_dur_p2 = v;
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/* vtol duration of a back transition */
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param_get(_params_handles_tiltrotor.back_trans_dur, &v);
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_params_tiltrotor.back_trans_dur = math::constrain(v,0.0f,5.0f);
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/* vtol airspeed at which it is ok to switch to fw mode */
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param_get(_params_handles_tiltrotor.airspeed_trans, &v);
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_params_tiltrotor.airspeed_trans = v;
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/* vtol airspeed at which we start blending mc/fw controls */
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param_get(_params_handles_tiltrotor.airspeed_blend_start, &v);
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_params_tiltrotor.airspeed_blend_start = v;
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/* vtol lock elevons in multicopter */
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param_get(_params_handles_tiltrotor.elevons_mc_lock, &l);
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_params_tiltrotor.elevons_mc_lock = l;
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/* avoid parameters which will lead to zero division in the transition code */
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_params_tiltrotor.front_trans_dur = math::max(_params_tiltrotor.front_trans_dur, _min_front_trans_dur);
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if ( _params_tiltrotor.airspeed_trans < _params_tiltrotor.airspeed_blend_start + 1.0f ) {
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_params_tiltrotor.airspeed_trans = _params_tiltrotor.airspeed_blend_start + 1.0f;
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}
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return OK;
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}
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void Tailsitter::update_vtol_state()
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{
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// simply switch between the two modes
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if (!_attc->is_fixed_wing_requested()) {
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_vtol_mode = ROTARY_WING;
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parameters_update();
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} else {
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_vtol_mode = FIXED_WING;
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/* simple logic using a two way switch to perform transitions.
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* after flipping the switch the vehicle will start tilting rotors, picking up
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* forward speed. After the vehicle has picked up enough speed the rotors are tilted
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* forward completely. For the backtransition the motors simply rotate back.
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*/
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if (_manual_control_sp->aux1 < 0.0f) { // user switchig to MC mode
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// plane is in multicopter mode
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switch(_vtol_schedule.flight_mode) {
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case MC_MODE:
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break;
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case FW_MODE:
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_vtol_schedule.flight_mode = TRANSITION_BACK;
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_vtol_schedule.transition_start = hrt_absolute_time();
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break;
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case TRANSITION_FRONT_P1:
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// failsafe into multicopter mode
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_vtol_schedule.flight_mode = MC_MODE;
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break;
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case TRANSITION_FRONT_P2:
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// failsafe into multicopter mode
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_vtol_schedule.flight_mode = MC_MODE;
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break;
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case TRANSITION_BACK:
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// check if we have reached pitch angle to switch to MC mode
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if (_v_att->pitch >= PITCH_TRANSITION_BACK) {
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_vtol_schedule.flight_mode = MC_MODE;
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}
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break;
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}
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} else { // user switchig to FW mode
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switch(_vtol_schedule.flight_mode) {
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case MC_MODE:
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// initialise a front transition
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
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_vtol_schedule.transition_start = hrt_absolute_time();
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break;
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case FW_MODE:
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break;
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case TRANSITION_FRONT_P1:
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// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
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if (_airspeed->true_airspeed_m_s >= _params_tiltrotor.airspeed_trans && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) {
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_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
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_vtol_schedule.transition_start = hrt_absolute_time();
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}
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break;
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case TRANSITION_FRONT_P2:
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// check if we have reached pitch angle to switch to FW mode
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if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
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_vtol_schedule.flight_mode = FW_MODE;
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}
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break;
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case TRANSITION_BACK:
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// failsafe into fixed wing mode
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_vtol_schedule.flight_mode = FW_MODE;
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/* **LATER*** if pitch is closer to mc (-45>)
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* go to transition P1
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*/
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break;
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}
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}
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// map tailsitter specific control phases to simple control modes
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switch(_vtol_schedule.flight_mode) {
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case MC_MODE:
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_vtol_mode = ROTARY_WING;
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_vtol_vehicle_status->vtol_in_trans_mode = false;
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_flag_was_in_trans_mode = false;
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break;
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case FW_MODE:
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_vtol_mode = FIXED_WING;
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_vtol_vehicle_status->vtol_in_trans_mode = false;
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_flag_was_in_trans_mode = false;
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break;
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case TRANSITION_FRONT_P1:
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_vtol_mode = TRANSITION;
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_vtol_vehicle_status->vtol_in_trans_mode = true;
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case TRANSITION_FRONT_P2:
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_vtol_mode = TRANSITION;
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_vtol_vehicle_status->vtol_in_trans_mode = true;
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case TRANSITION_BACK:
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_vtol_mode = TRANSITION;
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_vtol_vehicle_status->vtol_in_trans_mode = true;
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break;
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}
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}
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void Tailsitter::update_mc_state()
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{
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if (!flag_idle_mc) {
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// set idle speed for rotary wing mode
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if (!flag_idle_mc) {
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set_idle_mc();
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flag_idle_mc = true;
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}
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_mc_roll_weight = 1.0f;
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_mc_pitch_weight = 1.0f;
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_mc_yaw_weight = 1.0f;
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}
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void Tailsitter::update_fw_state()
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@@ -80,13 +236,124 @@ void Tailsitter::update_fw_state()
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set_idle_fw();
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flag_idle_mc = false;
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}
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_mc_roll_weight = 0.0f;
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_mc_pitch_weight = 0.0f;
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_mc_yaw_weight = 0.0f;
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}
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void Tailsitter::update_transition_state()
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{
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if (!_flag_was_in_trans_mode) {
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// save desired heading for transition and last thrust value
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_yaw_transition = _v_att->yaw;
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_pitch_transition_start = _v_att->pitch;
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_throttle_transition_start = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
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_flag_was_in_trans_mode = true;
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}
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if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
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/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
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if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P1-0.2f) ) {
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_v_att_sp->pitch_body = _pitch_transition_start -
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fabsf(PITCH_TRANSITION_FRONT_P1 / _params_tiltrotor.front_trans_dur) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur * 1000000.0f);
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}
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/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */
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if (_airspeed->true_airspeed_m_s <= _params_tiltrotor.airspeed_trans) ) {
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_v_att_sp->thrust = _throttle_transition_start + (THROTTLE_TRANSITION_MAX * _throttle_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur * 1000000.0f);
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/** if the limit reached stop adding thrust */
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if (_v_att_sp->thrust >= (THROTTLE_TRANSITION_MAX * _throttle_transition_start) ) {
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_v_att_sp->thrust = (THROTTLE_TRANSITION_MAX * _throttle_transition_start);
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}
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}
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/** ^ else condition nescesary for publishing values ? ^ */
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// disable mc yaw control once the plane has picked up speed
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if (_airspeed->true_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
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_mc_yaw_weight = 0.0f;
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}else {
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_mc_yaw_weight = 1.0f;
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}
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_mc_roll_weight = 1.0f;
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_mc_pitch_weight = 1.0f;
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} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
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// the plane is ready to go into fixed wing mode, smoothly switch the actuator controls, keep pitching down
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/** FW motor is switched */
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/** is thrust assignment nescesary? */
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/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
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if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P2-0.2f) ) {
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_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P1 -
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(fabsf(PITCH_TRANSITION_FRONT_P2 - PITCH_TRANSITION_FRONT_P1) / _params_tiltrotor.front_trans_dur_p2) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.front_trans_dur_p2 * 1000000.0f);
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}
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/** start blending MC and FW controls from pitch -45 to pitch -70 for smooth control takeover*/
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_mc_roll_weight = 1.0f - 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tiltrotor.front_trans_dur_p2 * 1000000.0f);
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_mc_pitch_weight = 1.0f - 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tiltrotor.front_trans_dur_p2 * 1000000.0f);
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/** keep yaw disabled */
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_mc_yaw_weight = 0.0f;
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} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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if (!flag_idle_mc) {
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set_idle_mc();
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flag_idle_mc = true;
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}
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/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
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if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_BACK+0.2f) ) {
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_v_att_sp->pitch_body = _pitch_transition_start +
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fabsf(PITCH_TRANSITION_BACK / _params_tiltrotor.back_trans_dur) *
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(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur * 1000000.0f);
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}
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/** smoothly move control weight to MC */
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_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur * 1000000.0f);
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_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tiltrotor.back_trans_dur * 1000000.0f);
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/** keep yaw disabled */
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_mc_yaw_weight = 0.0f;
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// set zero throttle for backtransition otherwise unwanted moments will be created
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_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
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}
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_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
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_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
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_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
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// compute desired attitude and thrust setpoint for the transition
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_v_att_sp->timestamp = hrt_absolute_time();
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_v_att_sp->roll_body = 0;
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_v_att_sp->yaw_body = _yaw_transition;
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_v_att_sp->R_valid = true;
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math::Matrix<3,3> R_sp;
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R_sp.from_euler(_v_att_sp->roll_body,_v_att_sp->pitch_body,_v_att_sp->yaw_body);
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memcpy(&_v_att_sp->R_body[0], R_sp.data, sizeof(_v_att_sp->R_body));
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math::Quaternion q_sp;
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q_sp.from_dcm(R_sp);
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memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));
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}
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void Tailsitter::update_external_state()
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{
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@@ -110,8 +377,7 @@ void Tailsitter::calc_tot_airspeed()
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_airspeed_tot = _params->arsp_lp_gain * (_airspeed_tot - airspeed_raw) + airspeed_raw;
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}
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void
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Tailsitter::scale_mc_output()
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void Tailsitter::scale_mc_output()
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{
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// scale around tuning airspeed
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float airspeed;
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@@ -31,18 +31,21 @@
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*
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****************************************************************************/
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||||
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/**
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* @file tiltrotor.h
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*
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||||
* @author Roman Bapst <bapstroman@gmail.com>
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*
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||||
*/
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/**
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* @file tiltrotor.h
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*
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* @author Roman Bapst <bapstroman@gmail.com>
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* @author David Vorsin <davidvorsin@gmail.com>
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*
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*/
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#ifndef TAILSITTER_H
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#define TAILSITTER_H
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#include "vtol_type.h"
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#include <systemlib/perf_counter.h>
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#include <systemlib/perf_counter.h> /** is it necsacery? **/
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#include <systemlib/param/param.h>
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#include <drivers/drv_hrt.h>
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class Tailsitter : public VtolType
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{
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@@ -51,21 +54,98 @@ public:
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Tailsitter(VtolAttitudeControl *_att_controller);
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~Tailsitter();
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/**
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* Update vtol state.
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*/
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void update_vtol_state();
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/**
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* Update multicopter state.
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*/
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void update_mc_state();
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/**
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* Update fixed wing state.
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*/
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void update_fw_state();
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/**
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* Update transition state.
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||||
*/
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||||
void update_transition_state();
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||||
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||||
/**
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||||
* Update external state.
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||||
*/
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||||
void update_external_state();
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||||
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||||
private:
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||||
void fill_actuator_outputs();
|
||||
void calc_tot_airspeed();
|
||||
void scale_mc_output();
|
||||
|
||||
float _airspeed_tot;
|
||||
|
||||
|
||||
struct {
|
||||
float front_trans_dur; /**< duration of first part of front transition */
|
||||
float front_trans_dur_p2;
|
||||
float back_trans_dur; /**< duration of back transition */
|
||||
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 */
|
||||
|
||||
} _params_tailsitter;
|
||||
|
||||
struct {
|
||||
param_t front_trans_dur;
|
||||
param_t front_trans_dur_p2;
|
||||
param_t back_trans_dur;
|
||||
param_t airspeed_trans;
|
||||
param_t airspeed_blend_start;
|
||||
param_t elevons_mc_lock;
|
||||
|
||||
} _params_handles_tailsitter;
|
||||
|
||||
enum vtol_mode {
|
||||
MC_MODE = 0, /**< vtol is in multicopter mode */
|
||||
TRANSITION_FRONT_P1, /**< vtol is in front transition part 1 mode */
|
||||
TRANSITION_FRONT_P2, /**< vtol is in front transition part 2 mode */
|
||||
TRANSITION_BACK, /**< vtol is in back transition mode */
|
||||
FW_MODE /**< vtol is in fixed wing mode */
|
||||
};
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
}_vtol_schedule;
|
||||
|
||||
float _airspeed_tot; /** speed estimation for propwash controlled surfaces */
|
||||
float _roll_weight_mc; /**< multicopter desired roll moment weight */
|
||||
float _yaw_weight_mc; /**< multicopter desired yaw moment weight */
|
||||
|
||||
/** not sure about it yet ?! **/
|
||||
const float _min_front_trans_dur; /**< min possible time in which rotors are rotated into the first position */
|
||||
|
||||
|
||||
/** should this anouncement stay? **/
|
||||
perf_counter_t _loop_perf; /**< loop performance counter */
|
||||
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
|
||||
|
||||
/**
|
||||
* Speed estimation for propwash controlled surfaces.
|
||||
*/
|
||||
void calc_tot_airspeed();
|
||||
|
||||
|
||||
/** is this one still needed? */
|
||||
void scale_mc_output();
|
||||
|
||||
/**
|
||||
* Write control values to actuator output topics.
|
||||
*/
|
||||
void fill_actuator_outputs();
|
||||
|
||||
/**
|
||||
* Update parameters.
|
||||
*/
|
||||
int parameters_update();
|
||||
|
||||
};
|
||||
#endif
|
||||
|
||||
@@ -0,0 +1,56 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file tailsitter_params.c
|
||||
* Parameters for vtol attitude controller.
|
||||
*
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
* @author David Vorsin <davidvorsin@gmail.com>
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/**
|
||||
* 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);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user