oberion
10 years ago
37 changed files with 702 additions and 130 deletions
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|
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#!nsh |
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# |
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# @name Generic AAERT tailplane airframe with Quad VTOL. |
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# |
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# @type Standard VTOL |
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# |
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# @maintainer Simon Wilks <simon@uaventure.com> |
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# |
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|
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sh /etc/init.d/rc.vtol_defaults |
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|
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if [ $AUTOCNF == yes ] |
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then |
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param set VT_TYPE 2 |
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param set VT_MOT_COUNT 4 |
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param set VT_TRANS_THR 0.75 |
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|
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param set MC_ROLL_P 7.0 |
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param set MC_ROLLRATE_P 0.15 |
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param set MC_ROLLRATE_I 0.002 |
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param set MC_ROLLRATE_D 0.003 |
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param set MC_ROLLRATE_FF 0.0 |
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param set MC_PITCH_P 7.0 |
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param set MC_PITCHRATE_P 0.12 |
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param set MC_PITCHRATE_I 0.002 |
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param set MC_PITCHRATE_D 0.003 |
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param set MC_PITCHRATE_FF 0.0 |
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param set MC_YAW_P 2.8 |
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param set MC_YAW_FF 0.5 |
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param set MC_YAWRATE_P 0.22 |
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param set MC_YAWRATE_I 0.02 |
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param set MC_YAWRATE_D 0.0 |
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param set MC_YAWRATE_FF 0.0 |
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fi |
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set MIXER vtol_quad_x |
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set PWM_OUT 12345678 |
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set MIXER_AUX vtol_AAERT |
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set PWM_AUX_RATE 50 |
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set PWM_AUX_OUT 1234 |
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set PWM_AUX_DISARMED 1000 |
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set PWM_AUX_MIN 1000 |
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set PWM_AUX_MAX 2000 |
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set MAV_TYPE 22 |
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param set VT_MOT_COUNT 4 |
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param set VT_IDLE_PWM_MC 1080 |
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param set VT_TYPE 2 |
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Mixer for an AAERT VTOL |
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======================= |
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Aileron 1 mixer |
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--------------- |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 0 -7500 -7500 0 -10000 10000 |
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|
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Aileron 2 mixer |
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--------------- |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 0 -7500 -7500 0 -10000 10000 |
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|
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Elevator mixer |
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-------------- |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 1 10000 10000 0 -10000 10000 |
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|
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Rudder mixer |
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------------ |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 2 -10000 -10000 0 -10000 10000 |
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|
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Throttle mixer |
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-------------- |
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M: 1 |
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O: 10000 10000 0 -10000 10000 |
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S: 1 3 0 20000 -10000 -10000 10000 |
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# VTOL quad X mixer for PX4FMU |
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#============================= |
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R: 4x 10000 10000 10000 0 |
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/****************************************************************************
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* |
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* Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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|
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/**
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* @file standard.cpp |
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* |
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* @author Simon Wilks <simon@uaventure.com> |
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* @author Roman Bapst <bapstroman@gmail.com> |
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* |
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*/ |
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#include "standard.h" |
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#include "vtol_att_control_main.h" |
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|
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Standard::Standard(VtolAttitudeControl *attc) : |
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VtolType(attc), |
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_flag_enable_mc_motors(true), |
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_pusher_throttle(0.0f), |
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_mc_att_ctl_weight(1.0f), |
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_airspeed_trans_blend_margin(0.0f) |
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{ |
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_vtol_schedule.flight_mode = MC_MODE; |
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_vtol_schedule.transition_start = 0; |
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|
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_params_handles_standard.front_trans_dur = param_find("VT_F_TRANS_DUR"); |
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_params_handles_standard.back_trans_dur = param_find("VT_B_TRANS_DUR"); |
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_params_handles_standard.pusher_trans = param_find("VT_TRANS_THR"); |
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_params_handles_standard.airspeed_blend = param_find("VT_ARSP_BLEND"); |
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_params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS"); |
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} |
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|
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Standard::~Standard() |
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{ |
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} |
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int |
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Standard::parameters_update() |
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{ |
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float v; |
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/* duration of a forwards transition to fw mode */ |
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param_get(_params_handles_standard.front_trans_dur, &v); |
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_params_standard.front_trans_dur = math::constrain(v, 0.0f, 5.0f); |
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/* duration of a back transition to mc mode */ |
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param_get(_params_handles_standard.back_trans_dur, &v); |
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_params_standard.back_trans_dur = math::constrain(v, 0.0f, 5.0f); |
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/* target throttle value for pusher motor during the transition to fw mode */ |
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param_get(_params_handles_standard.pusher_trans, &v); |
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_params_standard.pusher_trans = math::constrain(v, 0.0f, 5.0f); |
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/* airspeed at which it we should switch to fw mode */ |
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param_get(_params_handles_standard.airspeed_trans, &v); |
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_params_standard.airspeed_trans = math::constrain(v, 1.0f, 20.0f); |
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/* airspeed at which we start blending mc/fw controls */ |
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param_get(_params_handles_standard.airspeed_blend, &v); |
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_params_standard.airspeed_blend = math::constrain(v, 0.0f, 20.0f); |
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_airspeed_trans_blend_margin = _params_standard.airspeed_trans - _params_standard.airspeed_blend; |
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return OK; |
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} |
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|
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void Standard::update_vtol_state() |
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{ |
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parameters_update(); |
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|
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/* After flipping the switch the vehicle will start the pusher (or tractor) motor, picking up
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* forward speed. After the vehicle has picked up enough speed the rotors shutdown.
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* For the back transition the pusher motor is immediately stopped and rotors reactivated. |
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*/ |
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if (_manual_control_sp->aux1 < 0.0f) { |
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// the transition to fw mode switch is off
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if (_vtol_schedule.flight_mode == MC_MODE) { |
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// in mc mode
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_vtol_schedule.flight_mode = MC_MODE; |
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_mc_att_ctl_weight = 1.0f; |
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} else if (_vtol_schedule.flight_mode == FW_MODE) { |
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// transition to mc mode
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_vtol_schedule.flight_mode = TRANSITION_TO_MC; |
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_flag_enable_mc_motors = true; |
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_vtol_schedule.transition_start = hrt_absolute_time(); |
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} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { |
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// failsafe back to mc mode
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_vtol_schedule.flight_mode = MC_MODE; |
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_mc_att_ctl_weight = 1.0f; |
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} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { |
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// keep transitioning to mc mode
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_vtol_schedule.flight_mode = MC_MODE; |
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} |
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// the pusher motor should never be powered when in or transitioning to mc mode
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_pusher_throttle = 0.0f; |
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} else { |
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// the transition to fw mode switch is on
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if (_vtol_schedule.flight_mode == MC_MODE) { |
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// start transition to fw mode
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_vtol_schedule.flight_mode = TRANSITION_TO_FW; |
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_vtol_schedule.transition_start = hrt_absolute_time(); |
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} else if (_vtol_schedule.flight_mode == FW_MODE) { |
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// in fw mode
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_vtol_schedule.flight_mode = FW_MODE; |
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_mc_att_ctl_weight = 0.0f; |
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} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { |
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// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
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if (_airspeed->true_airspeed_m_s >= _params_standard.airspeed_trans) { |
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_vtol_schedule.flight_mode = FW_MODE; |
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// we can turn off the multirotor motors now
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_flag_enable_mc_motors = false; |
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// don't set pusher throttle here as it's being ramped up elsewhere
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} |
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} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { |
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// transitioning to mc mode & transition switch on - failsafe back into fw mode
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_vtol_schedule.flight_mode = FW_MODE; |
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} |
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} |
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// map specific control phases to simple control modes
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switch(_vtol_schedule.flight_mode) { |
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case MC_MODE: |
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_vtol_mode = ROTARY_WING; |
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break; |
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case FW_MODE: |
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_vtol_mode = FIXED_WING; |
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break; |
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case TRANSITION_TO_FW: |
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case TRANSITION_TO_MC: |
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_vtol_mode = TRANSITION; |
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break; |
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} |
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} |
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|
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void Standard::update_transition_state() |
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{ |
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if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { |
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if (_params_standard.front_trans_dur <= 0.0f) { |
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// just set the final target throttle value
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_pusher_throttle = _params_standard.pusher_trans; |
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} else if (_pusher_throttle <= _params_standard.pusher_trans) { |
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// ramp up throttle to the target throttle value
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_pusher_throttle = _params_standard.pusher_trans *
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(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur * 1000000.0f); |
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} |
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// do blending of mc and fw controls if a blending airspeed has been provided
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if (_airspeed_trans_blend_margin > 0.0f && _airspeed->true_airspeed_m_s >= _params_standard.airspeed_blend) { |
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_mc_att_ctl_weight = 1.0f - fabsf(_airspeed->true_airspeed_m_s - _params_standard.airspeed_blend) / _airspeed_trans_blend_margin; |
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} else { |
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// at low speeds give full weight to mc
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_mc_att_ctl_weight = 1.0f; |
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} |
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} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) { |
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// continually increase mc attitude control as we transition back to mc mode
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if (_params_standard.back_trans_dur > 0.0f) { |
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_mc_att_ctl_weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.back_trans_dur * 1000000.0f); |
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} else { |
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_mc_att_ctl_weight = 1.0f;
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} |
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// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
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if (_flag_enable_mc_motors) { |
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set_max_mc(2000); |
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set_idle_mc(); |
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_flag_enable_mc_motors = false; |
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} |
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} |
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_mc_att_ctl_weight = math::constrain(_mc_att_ctl_weight, 0.0f, 1.0f); |
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} |
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void Standard::update_mc_state() |
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{ |
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// do nothing
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} |
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void Standard::process_mc_data() |
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{ |
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fill_att_control_output(); |
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} |
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void Standard::process_fw_data() |
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{ |
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fill_att_control_output(); |
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} |
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void Standard::update_fw_state() |
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{ |
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// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
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if (!_flag_enable_mc_motors) { |
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set_max_mc(950); |
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set_idle_fw(); // force them to stop, not just idle
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_flag_enable_mc_motors = true; |
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} |
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} |
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void Standard::update_external_state() |
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{ |
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} |
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/**
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* Prepare message to acutators with data from mc and fw attitude controllers. An mc attitude weighting will determine |
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* what proportion of control should be applied to each of the control groups (mc and fw). |
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*/ |
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void Standard::fill_att_control_output() |
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{ |
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/* multirotor controls */ |
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_actuators_out_0->control[0] = _actuators_mc_in->control[0] * _mc_att_ctl_weight; // roll
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_actuators_out_0->control[1] = _actuators_mc_in->control[1] * _mc_att_ctl_weight; // pitch
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_actuators_out_0->control[2] = _actuators_mc_in->control[2] * _mc_att_ctl_weight; // yaw
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_actuators_out_0->control[3] = _actuators_mc_in->control[3]; // throttle
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/* fixed wing controls */ |
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const float fw_att_ctl_weight = 1.0f - _mc_att_ctl_weight; |
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_actuators_out_1->control[0] = -_actuators_fw_in->control[0] * fw_att_ctl_weight; //roll
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_actuators_out_1->control[1] = (_actuators_fw_in->control[1] + _params->fw_pitch_trim) * fw_att_ctl_weight; //pitch
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_actuators_out_1->control[2] = _actuators_fw_in->control[2] * fw_att_ctl_weight; // yaw
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// set the fixed wing throttle control
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if (_vtol_schedule.flight_mode == FW_MODE) { |
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// take the throttle value commanded by the fw controller
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_actuators_out_1->control[3] = _actuators_fw_in->control[3]; |
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} else { |
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// otherwise we may be ramping up the throttle during the transition to fw mode
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_actuators_out_1->control[3] = _pusher_throttle; |
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} |
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} |
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/**
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* Disable all multirotor motors when in fw mode. |
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*/ |
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void |
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Standard::set_max_mc(unsigned pwm_value) |
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{ |
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int ret; |
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unsigned servo_count; |
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char *dev = PWM_OUTPUT0_DEVICE_PATH; |
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int fd = open(dev, 0); |
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if (fd < 0) {err(1, "can't open %s", dev);} |
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ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); |
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struct pwm_output_values pwm_values; |
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memset(&pwm_values, 0, sizeof(pwm_values)); |
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for (int i = 0; i < _params->vtol_motor_count; i++) { |
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pwm_values.values[i] = pwm_value; |
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pwm_values.channel_count = _params->vtol_motor_count; |
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} |
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ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values); |
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if (ret != OK) {errx(ret, "failed setting max values");} |
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close(fd); |
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} |
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@ -0,0 +1,107 @@
@@ -0,0 +1,107 @@
|
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/****************************************************************************
|
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* |
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* Copyright (c) 2015 PX4 Development Team. All rights reserved. |
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* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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|
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/**
|
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* @file standard.h |
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* VTOL with fixed multirotor motor configurations (such as quad) and a pusher |
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* (or puller aka tractor) motor for forward flight. |
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* |
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* @author Simon Wilks <simon@uaventure.com> |
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* @author Roman Bapst <bapstroman@gmail.com> |
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* |
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*/ |
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|
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#ifndef STANDARD_H |
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#define STANDARD_H |
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#include "vtol_type.h" |
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#include <systemlib/param/param.h> |
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#include <drivers/drv_hrt.h> |
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|
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class Standard : public VtolType |
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{ |
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public: |
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|
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Standard(VtolAttitudeControl * _att_controller); |
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~Standard(); |
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|
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void update_vtol_state(); |
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void update_mc_state(); |
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void process_mc_data(); |
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void update_fw_state(); |
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void process_fw_data(); |
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void update_transition_state(); |
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void update_external_state(); |
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private: |
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struct { |
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float front_trans_dur; |
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float back_trans_dur; |
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float pusher_trans; |
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float airspeed_blend; |
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float airspeed_trans; |
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} _params_standard; |
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struct { |
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param_t front_trans_dur; |
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param_t back_trans_dur; |
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param_t pusher_trans; |
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param_t airspeed_blend; |
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param_t airspeed_trans; |
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} _params_handles_standard; |
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|
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enum vtol_mode { |
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MC_MODE = 0, |
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TRANSITION_TO_FW, |
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TRANSITION_TO_MC, |
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FW_MODE |
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}; |
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struct { |
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vtol_mode flight_mode; // indicates in which mode the vehicle is in
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hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
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}_vtol_schedule; |
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|
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bool _flag_enable_mc_motors; |
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float _pusher_throttle; |
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float _mc_att_ctl_weight; // the amount of multicopter attitude control that should be applied in fixed wing mode while transitioning
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float _airspeed_trans_blend_margin; |
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|
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void fill_att_control_output(); |
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void set_max_mc(unsigned pwm_value); |
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|
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int parameters_update(); |
||||
|
||||
}; |
||||
#endif |
||||
@ -0,0 +1,51 @@
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved. |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file standard_params.c |
||||
* Parameters for the standard VTOL controller. |
||||
* |
||||
* @author Simon Wilks <simon@uaventure.com> |
||||
* @author Roman Bapst <bapstroman@gmail.com> |
||||
*/ |
||||
|
||||
#include <systemlib/param/param.h> |
||||
|
||||
/**
|
||||
* Target throttle value for pusher/puller motor during the transition to fw mode |
||||
* |
||||
* @min 0.0 |
||||
* @max 1.0 |
||||
* @group VTOL Attitude Control |
||||
*/ |
||||
PARAM_DEFINE_FLOAT(VT_TRANS_THR, 0.6f); |
||||
@ -0,0 +1,3 @@
@@ -0,0 +1,3 @@
|
||||
#ifdef __PX4_QURT |
||||
#include <dspal_types.h> |
||||
#endif |
||||
Loading…
Reference in new issue