/*
run output for tailsitters
*/
void QuadPlane::tailsitter_output(void)
{
if (!tailsitter_active()) {
return;
}
motors_output();
plane.pitchController.reset_I();
plane.rollController.reset_I();
if (tailsitter.input_mask_chan > 0 &&
tailsitter.input_mask > 0 &&
hal.rcin->read(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());
}
}
}
// handle different tailsitter input types
void QuadPlane::tailsitter_check_input(void)
{
if (tailsitter_active() &&
tailsitter.input_type == TAILSITTER_INPUT_PLANE) {
// the user has asked for body frame controls when tailsitter
// is active. We switch around the control_in value for the
// channels to do this, as that ensures the value is
// consistent throughout the code
int16_t roll_in = plane.channel_roll->get_control_in();
int16_t yaw_in = plane.channel_rudder->get_control_in();
plane.channel_roll->set_control_in(yaw_in);
plane.channel_rudder->set_control_in(-roll_in);
}
}
/*
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());
}
}
}
