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mixer for transition

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not final yet
This commit is contained in:
davidvor
2015-08-20 13:36:48 +03:00
committed by tumbili
parent 6c5638062a
commit c39935f248
1 changed files with 42 additions and 44 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+42 -44
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@@ -325,8 +325,8 @@ void Tailsitter::update_transition_state()
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;
// set zero throttle for backtransition otherwise unwanted moments will be created
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] = 0.0f;
// set throttle value same as started
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] = _throttle_transition_start;
}
@@ -416,50 +416,48 @@ void Tailsitter::scale_mc_output()
*/
void Tailsitter::fill_actuator_outputs()
{
switch (_vtol_mode) {
case ROTARY_WING:
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW];
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
switch(_vtol_mode) {
case ROTARY_WING:
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW];
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
if (_params->elevons_mc_lock == 1) {
_actuators_out_1->control[0] = 0;
_actuators_out_1->control[1] = 0;
} else {
// 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]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
}
break;
case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; // pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = _actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_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)
_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;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
} else {
// 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]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
}
break;
case FIXED_WING:
// in fixed wing mode we use engines only for providing thrust, no moments are generated
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = 0;
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]; // roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] + _params->fw_pitch_trim; // pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW]; // yaw
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE]; // throttle
break;
case TRANSITION:
case EXTERNAL:
// not yet implemented, we are switching brute force at the moment
break;
_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_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);
break;
case EXTERNAL:
// not yet implemented, we are switching brute force at the moment
break;
}
}