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added pitch trim for vtol in fixed wing mode

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This commit is contained in:
tumbili
2015-01-01 14:51:18 +01:00
parent 7b6620b319
commit a7bc38869e
2 changed files with 19 additions and 1 deletions
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9
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@@ -138,6 +138,7 @@ private:
float mc_airspeed_min; // min airspeed in multicoper mode (including prop-wash)
float mc_airspeed_trim; // trim airspeed in multicopter mode
float mc_airspeed_max; // max airpseed in multicopter mode
float fw_pitch_trim; // trim for neutral elevon position in fw mode
} _params;
struct {
@@ -147,6 +148,7 @@ private:
param_t mc_airspeed_min;
param_t mc_airspeed_trim;
param_t mc_airspeed_max;
param_t fw_pitch_trim;
} _params_handles;
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -244,6 +246,7 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.mc_airspeed_min = param_find("VT_MC_ARSPD_MIN");
_params_handles.mc_airspeed_max = param_find("VT_MC_ARSPD_MAX");
_params_handles.mc_airspeed_trim = param_find("VT_MC_ARSPD_TRIM");
_params_handles.fw_pitch_trim = param_find("VT_FW_PITCH_TRIM");
/* fetch initial parameter values */
parameters_update();
@@ -430,6 +433,10 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.mc_airspeed_trim, &v);
_params.mc_airspeed_trim = v;
/* vtol pitch trim for fw mode */
param_get(_params_handles.fw_pitch_trim, &v);
_params.fw_pitch_trim = v;
return OK;
}
@@ -459,7 +466,7 @@ void VtolAttitudeControl::fill_fw_att_control_output()
_actuators_out_0.control[3] = _actuators_fw_in.control[3];
/*controls for the elevons */
_actuators_out_1.control[0] = -_actuators_fw_in.control[0]; // roll elevon
_actuators_out_1.control[1] = _actuators_fw_in.control[1]; // pitch elevon
_actuators_out_1.control[1] = _actuators_fw_in.control[1] + _params.fw_pitch_trim; // pitch elevon
// unused now but still logged
_actuators_out_1.control[2] = _actuators_fw_in.control[2]; // yaw
_actuators_out_1.control[3] = _actuators_fw_in.control[3]; // throttle

11
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@@ -98,3 +98,14 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f);
*/
PARAM_DEFINE_INT32(VT_FW_PERM_STAB,0);
/**
* Fixed wing pitch trim
*
* This parameter allows to adjust the neutral elevon position in fixed wing mode.
*
* @min -1
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_PITCH_TRIM,0.0f);