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VTOL Tailsitter: don't use the fw attitude sp for determing the initial pitch if not recent

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Use a pitch of 0 to initialize the ramp otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-28 16:17:05 +02:00
parent 9c5a423753
commit fdcbabeb9e
1 changed files with 11 additions and 4 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+11 -4
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@@ -191,8 +191,8 @@ void Tailsitter::update_transition_state()
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = hrt_absolute_time();
const float time_since_trans_start = (float)(now - _vtol_schedule.transition_start) * 1e-6f; const float time_since_trans_start = (float)(now - _vtol_schedule.transition_start) * 1e-6f;
// we need the incoming (virtual) attitude setpoints (both mc and fw) to be recent, otherwise return (means the previous setpoint stays active) // we need the incoming (virtual) mc attitude setpoints to be recent, otherwise return (means the previous setpoint stays active)
if (_mc_virtual_att_sp->timestamp < (now - 1_s) && _fw_virtual_att_sp->timestamp < (now - 1_s)) { if (_mc_virtual_att_sp->timestamp < (now - 1_s)) {
return; return;
} }
@@ -209,8 +209,15 @@ void Tailsitter::update_transition_state()
float yaw_sp = atan2f(z(1), z(0)); float yaw_sp = atan2f(z(1), z(0));
// the intial attitude setpoint for a backtransition is a combination of the current fw pitch setpoint, // the intial attitude setpoint for a backtransition is a combination of the current fw pitch setpoint,
// the yaw setpoint and zero roll since we want wings level transition // the yaw setpoint and zero roll since we want wings level transition.
_q_trans_start = Eulerf(0.0f, _fw_virtual_att_sp->pitch_body, yaw_sp); // If for some reason the fw attitude setpoint is not recent then don't sue it and assume 0 pitch
if (_fw_virtual_att_sp->timestamp > (now - 1_s)) {
_q_trans_start = Eulerf(0.0f, _fw_virtual_att_sp->pitch_body, yaw_sp);
} else {
_q_trans_start = Eulerf(0.0f, 0.f, yaw_sp);
}
// attitude during transitions are controlled by mc attitude control so rotate the desired attitude to the // attitude during transitions are controlled by mc attitude control so rotate the desired attitude to the
// multirotor frame // multirotor frame