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vtol tailsitter attitude control (#7841)

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* revise pitch transition start and actuator_out_1 in transition

* update with new matrix math library
This commit is contained in:
Jasmine
2017-08-26 18:05:17 +08:00
committed by Lorenz Meier
parent edea4a369e
commit 8bf12f512b
1 changed files with 5 additions and 3 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+5 -3
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@@ -42,7 +42,7 @@
#include "tailsitter.h"
#include "vtol_att_control_main.h"
#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition
#define ARSP_YAW_CTRL_DISABLE 4.0f // 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 -1.1f // pitch angle to switch to TRANSITION_P2
#define PITCH_TRANSITION_FRONT_P2 -1.2f // pitch angle to switch to FW
@@ -236,7 +236,9 @@ void Tailsitter::update_transition_state()
if (!_flag_was_in_trans_mode) {
// save desired heading for transition and last thrust value
_yaw_transition = _v_att_sp->yaw_body;
_pitch_transition_start = _v_att_sp->pitch_body;
//transition should start from current attitude instead of current setpoint
matrix::Eulerf euler = matrix::Quatf(_v_att->q);
_pitch_transition_start = euler.theta();
_thrust_transition_start = _v_att_sp->thrust;
_flag_was_in_trans_mode = true;
}
@@ -495,7 +497,7 @@ void Tailsitter::fill_actuator_outputs()
// 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_fw_in->control[actuator_controls_s::INDEX_ROLL]
* (1 - _mc_roll_weight);
* (1 - _mc_yaw_weight);
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
// **LATER** + (_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim) *(1 - _mc_pitch_weight);