Mirrors_Framework/PX4-Autopilot
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This commit is contained in:
davidvor
2015-09-06 12:01:59 +03:00
committed by tumbili
parent 76c479170a
commit 945dda04ca
1 changed files with 17 additions and 18 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+17 -18
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@@ -127,15 +127,15 @@ void Tailsitter::update_vtol_state()
parameters_update();
/* simple logic using a two way switch to perform transitions.
* after flipping the switch the vehicle will start tilting rotors, picking up
* forward speed. After the vehicle has picked up enough speed the rotors are tilted
* forward completely. For the backtransition the motors simply rotate back.
* after flipping the switch the vehicle will start tilting in MC control mode, picking up
* forward speed. After the vehicle has picked up enough and sufficient pitch angle the uav will go into FW mode.
* For the backtransition the pitch is controlled in MC mode again and switches to full MC control reaching the sufficient pitch angle.
*/
if (_manual_control_sp->aux1 < 0.0f) { // user switchig to MC mode
if (_manual_control_sp->aux1 < 0.0f) {
// plane is in multicopter mode
switch(_vtol_schedule.flight_mode) {
switch(_vtol_schedule.flight_mode) { // user switchig to MC mode
case MC_MODE:
break;
case FW_MODE:
@@ -147,8 +147,9 @@ void Tailsitter::update_vtol_state()
_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_FRONT_P2:
// NOT USED
// failsafe into multicopter mode
_vtol_schedule.flight_mode = MC_MODE;
//_vtol_schedule.flight_mode = MC_MODE;
break;
case TRANSITION_BACK:
// check if we have reached pitch angle to switch to MC mode
@@ -175,10 +176,11 @@ void Tailsitter::update_vtol_state()
}
break;
case TRANSITION_FRONT_P2:
// NOT USED
// check if we have reached pitch angle to switch to FW mode
if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
_vtol_schedule.flight_mode = FW_MODE;
}
//if (_v_att->pitch <= PITCH_TRANSITION_FRONT_P2) {
// _vtol_schedule.flight_mode = FW_MODE;
//}
break;
case TRANSITION_BACK:
// failsafe into fixed wing mode
@@ -316,10 +318,10 @@ void Tailsitter::update_transition_state()
}
/** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = -1.57f + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f ) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = M_PI_2_F + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f ) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK+0.2f);
// throttle value is decreesed
_v_att_sp->thrust = _throttle_transition*0.9f;
/** keep yaw disabled */
@@ -329,9 +331,6 @@ void Tailsitter::update_transition_state()
_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);
// throttle value is the same as started
}
@@ -449,7 +448,7 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
break;
case TRANSITION:
// in transition engines are mixed by weight (FRONT_P2 , BACK)
// in transition engines are mixed by weight (BACK TRANSITION ONLY)
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
@@ -457,8 +456,8 @@ 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);
_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_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);
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
break;
case EXTERNAL: