Ejemplo n.º 1
0
/*
  check if we are flying as a tailsitter
 */
bool QuadPlane::tailsitter_active(void)
{
    if (!is_tailsitter()) {
        return false;
    }
    if (in_vtol_mode()) {
        return true;
    }
    // check if we are in ANGLE_WAIT fixed wing transition
    if (transition_state == TRANSITION_ANGLE_WAIT_FW) {
        return true;
    }
    return false;
}
Ejemplo n.º 2
0
/*
  check if we are flying as a tailsitter
 */
bool QuadPlane::tailsitter_active(void)
{
    return is_tailsitter() && in_vtol_mode();
}
Ejemplo n.º 3
0
/*
  run output for tailsitters
 */
void QuadPlane::tailsitter_output(void)
{
    if (!is_tailsitter()) {
        return;
    }
    if (!tailsitter_active() || in_tailsitter_vtol_transition()) {
        if (tailsitter.vectored_forward_gain > 0) {
            // thrust vectoring in fixed wing flight
            float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
            float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
            float tilt_left  = (elevator + aileron) * tailsitter.vectored_forward_gain;
            float tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain;
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
        } else {
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, 0);
            SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, 0);
        }
        if (in_tailsitter_vtol_transition() && !throttle_wait && is_flying() && hal.util->get_soft_armed()) {
            /*
              during transitions to vtol mode set the throttle to the
              hover throttle, and set the altitude controller
              integrator to the same throttle level
             */
            uint8_t throttle = motors->get_throttle_hover() * 100;
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
            SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
            pos_control->get_accel_z_pid().set_integrator(throttle*10);
        }
        return;
    }
    
    motors_output(false);
    plane.pitchController.reset_I();
    plane.rollController.reset_I();

    if (hal.util->get_soft_armed()) {
        // scale surfaces for throttle
        tailsitter_speed_scaling();
    }

    
    if (tailsitter.vectored_hover_gain > 0) {
        // thrust vectoring VTOL modes
        float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
        float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
        /*
          apply extra elevator when at high pitch errors, using a
          power law. This allows the motors to point straight up for
          takeoff without integrator windup
         */
        int32_t pitch_error_cd = (plane.nav_pitch_cd - ahrs_view->pitch_sensor) * 0.5;
        float extra_pitch = constrain_float(pitch_error_cd, -4500, 4500) / 4500.0;
        float extra_sign = extra_pitch > 0?1:-1;
        float extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * 4500;
        float tilt_left  = extra_elevator + (elevator + aileron) * tailsitter.vectored_hover_gain;
        float tilt_right = extra_elevator + (elevator - aileron) * tailsitter.vectored_hover_gain;
        if (fabsf(tilt_left) >= 4500 || fabsf(tilt_right) >= 4500) {
            // prevent integrator windup
            motors->limit.roll_pitch = 1;
            motors->limit.yaw = 1;
        }
        SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
        SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
    }
    
    
    if (tailsitter.input_mask_chan > 0 &&
        tailsitter.input_mask > 0 &&
        RC_Channels::get_radio_in(tailsitter.input_mask_chan-1) > 1700) {
        // the user is learning to prop-hang
        if (tailsitter.input_mask & TAILSITTER_MASK_AILERON) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.channel_roll->get_control_in_zero_dz());
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_ELEVATOR) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, plane.channel_pitch->get_control_in_zero_dz());
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_THROTTLE) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.channel_throttle->get_control_in_zero_dz());
        }
        if (tailsitter.input_mask & TAILSITTER_MASK_RUDDER) {
            SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, plane.channel_rudder->get_control_in_zero_dz());
        }
    }
}
Ejemplo n.º 4
0
/*
  return true if we are a tailsitter transitioning to VTOL flight  
 */
bool QuadPlane::in_tailsitter_vtol_transition(void) const
{
    return is_tailsitter() && in_vtol_mode() && transition_state == TRANSITION_ANGLE_WAIT_VTOL;
}