tailsitter, tiltrotor:

- use the transition trust when waiting for TECS to kick in
after transition

src/modules/vtol_att_control/tailsitter.cpp

@@ -52,7 +52,9 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
 	VtolType(attc),
 	_airspeed_tot(0.0f),
 	_min_front_trans_dur(0.5f),
-
+	_thrust_transition_start(0.0f),
+	_yaw_transition(0.0f),
+	_pitch_transition_start(0.0f),
 	_loop_perf(perf_alloc(PC_ELAPSED, "vtol_att_control-tailsitter")),
 	_nonfinite_input_perf(perf_alloc(PC_COUNT, "vtol att control-tailsitter nonfinite input"))
 {
@@ -233,7 +235,7 @@ void Tailsitter::update_transition_state()
 		// save desired heading for transition and last thrust value
 		_yaw_transition = _v_att_sp->yaw_body;
 		_pitch_transition_start = _v_att_sp->pitch_body;
-		_throttle_transition = _v_att_sp->thrust;
+		_thrust_transition_start = _v_att_sp->thrust;
 		_flag_was_in_trans_mode = true;
 	}
 
@@ -247,10 +249,11 @@ void Tailsitter::update_transition_state()
 
 		/** create time dependant throttle signal higher than  in MC and growing untill  P2 switch speed reached */
 		if (_airspeed->true_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
-			_v_att_sp->thrust = _throttle_transition + (fabsf(THROTTLE_TRANSITION_MAX * _throttle_transition) *
+			_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
 					    (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
-			_v_att_sp->thrust = math::constrain(_v_att_sp->thrust , _throttle_transition ,
+			_thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start ,
-							    (1.0f + THROTTLE_TRANSITION_MAX) * _throttle_transition);
+							    (1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
+			_v_att_sp->thrust = _thrust_transition;
 		}
 
 		// disable mc yaw control once the plane has picked up speed
@@ -286,6 +289,8 @@ void Tailsitter::update_transition_state()
 
 		}
 
+		_v_att_sp->thrust = _thrust_transition;
+
 		/** start blending MC and FW controls from pitch -45 to pitch -70 for smooth control takeover*/
 
 		//_mc_roll_weight = 1.0f - 1.0f * ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur_p2 * 1000000.0f));
@@ -312,7 +317,7 @@ void Tailsitter::update_transition_state()
 		_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK + 0.2f);
 
 		//  throttle value is decreesed
-		_v_att_sp->thrust = _throttle_transition * 0.9f;
+		_v_att_sp->thrust = _thrust_transition_start * 0.9f;
 
 		/** keep yaw disabled */
 		_mc_yaw_weight = 0.0f;
@@ -348,6 +353,12 @@ void Tailsitter::update_transition_state()
 	memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));
 }
 
+void Tailsitter::waiting_on_tecs()
+{
+	// copy the last trust value from the front transition
+	_v_att_sp->thrust = _thrust_transition;
+}
+
 void Tailsitter::calc_tot_airspeed()
 {
 	float airspeed = math::max(1.0f, _airspeed->true_airspeed_m_s);	// prevent numerical drama

src/modules/vtol_att_control/tailsitter.h

@@ -59,6 +59,7 @@ public:
 	virtual void update_mc_state();
 	virtual void update_fw_state();
 	virtual void fill_actuator_outputs();
+	virtual void waiting_on_tecs();
 
 private:
 
@@ -100,6 +101,10 @@ private:
 	/** not sure about it yet ?! **/
 	float _min_front_trans_dur;	/**< min possible time in which rotors are rotated into the first position */
 
+	float _thrust_transition_start; // throttle value when we start the front transition
+	float _yaw_transition;	// yaw angle in which transition will take place
+	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)
+
 
 	/** should this anouncement stay? **/
 	perf_counter_t	_loop_perf;			/**< loop performance counter */

src/modules/vtol_att_control/tiltrotor.cpp

@@ -292,8 +292,6 @@ void Tiltrotor::update_transition_state()
 {
 	if (!_flag_was_in_trans_mode) {
 		// save desired heading for transition and last thrust value
-		_yaw_transition = _v_att->yaw;
-		_throttle_transition = _actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
 		_flag_was_in_trans_mode = true;
 	}
 
@@ -326,6 +324,8 @@ void Tiltrotor::update_transition_state()
 			_mc_yaw_weight = 0.0f;
 		}
 
+		_thrust_transition = _mc_virtual_att_sp->thrust;
+
 	} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
 		// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
 		_tilt_control = _params_tiltrotor.tilt_transition +
@@ -333,6 +333,8 @@ void Tiltrotor::update_transition_state()
 					&_vtol_schedule.transition_start) / (_params_tiltrotor.front_trans_dur_p2 * 1000000.0f);
 		_mc_roll_weight = 0.0f;
 
+		_thrust_transition = _mc_virtual_att_sp->thrust;
+
 	} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
 		if (_rear_motors != IDLE) {
 			set_rear_motor_state(IDLE);
@@ -364,6 +366,12 @@ void Tiltrotor::update_transition_state()
 	memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
 }
 
+void Tiltrotor::waiting_on_tecs()
+{
+	// keep multicopter thrust until we get data from TECS
+	_v_att_sp->thrust = _thrust_transition;
+}
+
 /**
 * Write data to actuator output topic.
 */

src/modules/vtol_att_control/tiltrotor.h

@@ -57,6 +57,7 @@ public:
 	virtual void fill_actuator_outputs();
 	virtual void update_mc_state();
 	virtual void update_fw_state();
+	virtual void waiting_on_tecs();
 
 private:
 

src/modules/vtol_att_control/vtol_type.h

@@ -146,21 +146,19 @@ protected:
 
 	struct Params 					*_params;
 
-	bool flag_idle_mc;		//false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
+	bool flag_idle_mc = true;		//false = "idle is set for fixed wing mode"; true = "idle is set for multicopter mode"
 
-	float _mc_roll_weight;	// weight for multicopter attitude controller roll output
+	float _mc_roll_weight = 1.0f;	// weight for multicopter attitude controller roll output
-	float _mc_pitch_weight;	// weight for multicopter attitude controller pitch output
+	float _mc_pitch_weight = 1.0f;	// weight for multicopter attitude controller pitch output
-	float _mc_yaw_weight;	// weight for multicopter attitude controller yaw output
+	float _mc_yaw_weight = 1.0f;	// weight for multicopter attitude controller yaw output
-	float _mc_throttle_weight;	// weight for multicopter throttle command. Used to avoid
+	float _mc_throttle_weight = 1.0f;	// weight for multicopter throttle command. Used to avoid
 	// motors spinning up or cutting too fast whend doing transitions.
+	float _thrust_transition = 0.0f;	// thrust value applied during a front transition (tailsitter & tiltrotor only)
 
-	float _yaw_transition;	// yaw angle in which transition will take place
+	bool _flag_was_in_trans_mode = false;	// true if mode has just switched to transition
-	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)
+	hrt_abstime _trans_finished_ts = 0;
-	float _throttle_transition; // throttle value used for the transition phase
+	bool _tecs_running = false;
-	bool _flag_was_in_trans_mode;	// true if mode has just switched to transition
+	hrt_abstime _tecs_running_ts = 0;
-	hrt_abstime _trans_finished_ts;
-	bool _tecs_running;
-	hrt_abstime _tecs_running_ts;
 
 };