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Tiltrotor: option to enable differential thrust in forwards flight

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This commit is contained in:
Andreas Antener
2017-02-08 18:13:20 +01:00
committed by Andreas Daniel Antener
parent b19cd19411
commit e04fe593e0
3 changed files with 42 additions and 0 deletions
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13
src/modules/vtol_att_control/tiltrotor.cpp
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@@ -70,6 +70,8 @@ Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
_params_handles_tiltrotor.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tiltrotor.fw_motors_off = param_find("VT_FW_MOT_OFFID");
_params_handles_tiltrotor.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles_tiltrotor.diff_thrust = param_find("VT_FW_DIFTHR_EN");
_params_handles_tiltrotor.diff_thrust_scale = param_find("VT_FW_DIFTHR_SC");
}
Tiltrotor::~Tiltrotor()
@@ -134,6 +136,11 @@ Tiltrotor::parameters_update()
/* airspeed mode */
param_get(_params_handles_tiltrotor.airspeed_mode, &l);
_params_tiltrotor.airspeed_mode = math::constrain(l, 0, 2);
param_get(_params_handles_tiltrotor.diff_thrust, &_params_tiltrotor.diff_thrust);
param_get(_params_handles_tiltrotor.diff_thrust_scale, &v);
_params_tiltrotor.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
}
int Tiltrotor::get_motor_off_channels(int channels)
@@ -425,6 +432,12 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
/* allow differential thrust if enabled */
if (_params_tiltrotor.diff_thrust == 1) {
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params_tiltrotor.diff_thrust_scale;
}
} else {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];;

4
src/modules/vtol_att_control/tiltrotor.h
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@@ -73,6 +73,8 @@ private:
float front_trans_dur_p2;
int fw_motors_off; /**< bitmask of all motors that should be off in fixed wing mode */
int airspeed_mode;
int diff_thrust;
float diff_thrust_scale;
} _params_tiltrotor;
struct {
@@ -87,6 +89,8 @@ private:
param_t front_trans_dur_p2;
param_t fw_motors_off;
param_t airspeed_mode;
param_t diff_thrust;
param_t diff_thrust_scale;
} _params_handles_tiltrotor;
enum vtol_mode {

25
src/modules/vtol_att_control/tiltrotor_params.c
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@@ -98,3 +98,28 @@ PARAM_DEFINE_FLOAT(VT_TRANS_P2_DUR, 0.5f);
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_MOT_OFFID, 0);
/**
* Differential thrust in forwards flight.
*
* Set to 1 to enable differential thrust in fixed-wing flight.
*
* @min 0
* @max 1
* @decimal 0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FW_DIFTHR_EN, 0);
/**
* Differential thrust scaling factor
*
* This factor specifies how the yaw input gets mapped to differential thrust in forwards flight.
*
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_FW_DIFTHR_SC, 0.1f);