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turning on fw controler during p2 front transiion

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turning on fw controler during p2 front transiion
simpling the weight for testing
setting output more like fw for transition
This commit is contained in:
davidvor
2015-08-30 21:19:09 +03:00
committed by tumbili
parent 059cffeb40
commit 89b01fd45a
1 changed files with 27 additions and 10 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+27 -10
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@@ -45,7 +45,7 @@
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
#define PITCH_TRANSITION_FRONT_P1 -0.78f // pitch angle to switch to TRANSITION_P2
#define PITCH_TRANSITION_FRONT_P2 -1.05f // pitch angle to switch to FW
#define PITCH_TRANSITION_FRONT_P2 -1.2f // pitch angle to switch to FW
#define PITCH_TRANSITION_BACK -0.5f // pitch angle to switch to MC
Tailsitter::Tailsitter (VtolAttitudeControl *attc) :
@@ -292,17 +292,30 @@ void Tailsitter::update_transition_state()
/** no motor switching */
if (flag_idle_mc) {
set_idle_fw();
//flag_idle_mc = false;
}
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P2-0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P1 -
(fabsf(PITCH_TRANSITION_FRONT_P2 - PITCH_TRANSITION_FRONT_P1) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_FRONT_P2-0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P2-0.2f;
}
}
/** start blending MC and FW controls from pitch -45 to pitch -70 for smooth control takeover*/
_mc_roll_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
_mc_pitch_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
//_mc_roll_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
//_mc_pitch_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
@@ -316,15 +329,19 @@ void Tailsitter::update_transition_state()
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_BACK+0.2f) ) {
_v_att_sp->pitch_body = _pitch_transition_start +
fabsf(PITCH_TRANSITION_BACK - _pitch_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK - _pitch_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_BACK+0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_BACK+0.2f;
}
/** smoothly move control weight to MC */
_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
//_mc_roll_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
//_mc_pitch_weight = 1.0f * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_mc_roll_weight = 0.0f;
_mc_pitch_weight = 0.0f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
@@ -455,10 +472,10 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * (1 - _mc_yaw_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * (1 - _mc_roll_weight); //change
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = (_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight) +
(_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);
//_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
break;
case EXTERNAL:
// not yet implemented, we are switching brute force at the moment