From 72eafad5104ca0919f822fe44391c69f1ca80e8c Mon Sep 17 00:00:00 2001 From: tumbili Date: Wed, 31 Dec 2014 16:25:15 +0100 Subject: introduced vtol_fw_permanent stabilization: allows vtol to be attitude-stabilized in manual mode --- src/modules/vtol_att_control/vtol_att_control_main.cpp | 12 ++++++++++++ src/modules/vtol_att_control/vtol_att_control_params.c | 12 ++++++++++++ 2 files changed, 24 insertions(+) (limited to 'src/modules/vtol_att_control') 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..10a3950ac 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -134,6 +134,7 @@ 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 @@ -142,6 +143,7 @@ private: 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; @@ -234,9 +236,11 @@ 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"); @@ -411,6 +415,9 @@ 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; @@ -597,6 +604,9 @@ 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 +657,8 @@ 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..0ab446317 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 +86,15 @@ 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); + -- cgit v1.2.3 From a7bc38869e2121b7f63e63e0fae4bfe4117a3315 Mon Sep 17 00:00:00 2001 From: tumbili Date: Thu, 1 Jan 2015 14:51:18 +0100 Subject: added pitch trim for vtol in fixed wing mode --- src/modules/vtol_att_control/vtol_att_control_main.cpp | 9 ++++++++- src/modules/vtol_att_control/vtol_att_control_params.c | 11 +++++++++++ 2 files changed, 19 insertions(+), 1 deletion(-) (limited to 'src/modules/vtol_att_control') 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 10a3950ac..c72a85ecd 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -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 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 0ab446317..d1d4697f3 100644 --- a/src/modules/vtol_att_control/vtol_att_control_params.c +++ b/src/modules/vtol_att_control/vtol_att_control_params.c @@ -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); + -- cgit v1.2.3