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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-05 10:02:07 +0100 |
commit | 16b9f666e790a2b939f7890b39cc6e4cf2552165 (patch) | |
tree | ee936b06d15e75e12b175f6786772781aff32cd8 /src/modules/vtol_att_control | |
parent | e16c4ff76e7eff2da88bcbef5d05dd4ba11e7203 (diff) | |
parent | c3ed35f5cc8e2617e61747e904dbaa652d1cc2c8 (diff) | |
download | px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.gz px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.tar.bz2 px4-firmware-16b9f666e790a2b939f7890b39cc6e4cf2552165.zip |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
src/lib/mathlib/math/Matrix.hpp
src/modules/mc_att_control/mc_att_control_main.cpp
src/modules/uORB/topics/vehicle_status.h
src/platforms/px4_includes.h
Diffstat (limited to 'src/modules/vtol_att_control')
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_main.cpp | 21 | ||||
-rw-r--r-- | src/modules/vtol_att_control/vtol_att_control_params.c | 23 |
2 files changed, 43 insertions, 1 deletions
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index 9a80562f3..c72a85ecd 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -134,17 +134,21 @@ private: struct { param_t idle_pwm_mc; //pwm value for idle in mc mode param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; // in fw mode stabilize attitude also in manual mode 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 { param_t idle_pwm_mc; param_t vtol_motor_count; + param_t vtol_fw_permanent_stab; 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 */ @@ -234,12 +238,15 @@ VtolAttitudeControl::VtolAttitudeControl() : _params.idle_pwm_mc = PWM_LOWEST_MIN; _params.vtol_motor_count = 0; + _params.vtol_fw_permanent_stab = 0; _params_handles.idle_pwm_mc = param_find("VT_IDLE_PWM_MC"); _params_handles.vtol_motor_count = param_find("VT_MOT_COUNT"); + _params_handles.vtol_fw_permanent_stab = param_find("VT_FW_PERM_STAB"); _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(); @@ -411,6 +418,9 @@ VtolAttitudeControl::parameters_update() /* vtol motor count */ param_get(_params_handles.vtol_motor_count, &_params.vtol_motor_count); + /* vtol fw permanent stabilization */ + param_get(_params_handles.vtol_fw_permanent_stab, &_params.vtol_fw_permanent_stab); + /* vtol mc mode min airspeed */ param_get(_params_handles.mc_airspeed_min, &v); _params.mc_airspeed_min = v; @@ -423,6 +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; } @@ -452,7 +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 @@ -597,6 +611,9 @@ void VtolAttitudeControl::task_main() parameters_update(); // initialize parameter cache + /* update vtol vehicle status*/ + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + // make sure we start with idle in mc mode set_idle_mc(); flag_idle_mc = true; @@ -647,6 +664,8 @@ void VtolAttitudeControl::task_main() parameters_update(); } + _vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false; + vehicle_control_mode_poll(); //Check for changes in vehicle control mode. vehicle_manual_poll(); //Check for changes in manual inputs. arming_status_poll(); //Check for arming status updates. diff --git a/src/modules/vtol_att_control/vtol_att_control_params.c b/src/modules/vtol_att_control/vtol_att_control_params.c index e21bccb0c..d1d4697f3 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -86,3 +86,26 @@ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_MAX,30.0f); */ PARAM_DEFINE_FLOAT(VT_MC_ARSPD_TRIM,10.0f); +/** + * Permanent stabilization in fw mode + * + * If set to one this parameter will cause permanent attitude stabilization in fw mode. + * This parameter has been introduced for pure convenience sake. + * + * @min 0.0 + * @max 1.0 + * @group VTOL Attitude Control + */ +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); + |