zr-v4/ArduPlane/tiltrotor.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#include "Plane.h"

/*
  control code for tiltrotors and tiltwings. Enabled by setting
  Q_TILT_MASK to a non-zero value
 */


/*
  output a slew limited tiltrotor angle. tilt is from 0 to 1
 */
void QuadPlane::tiltrotor_slew(float newtilt)
{
    float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
    tilt.current_tilt = constrain_float(newtilt, tilt.current_tilt-max_change, tilt.current_tilt+max_change);

    // translate to 0..1000 range and output
    RC_Channel_aux::set_servo_out(RC_Channel_aux::k_motor_tilt, 1000 * tilt.current_tilt);

    /*
      we need to tell AP_Motors about the tilt so it can compensate
      for reduced vertical thrust
     */
    float tilt_factor;
    if (tilt.current_tilt > 0.98f) {
        tilt_factor = 1.0 / cosf(radians(0.98f*90));
    } else {
        tilt_factor = 1.0 / cosf(radians(tilt.current_tilt*90));
    }

    // when we got past Q_TILT_MAX we gang the tilted motors together
    // to generate equal thrust. This makes them act as a single pitch
    // control motor while preventing them trying to do roll and yaw
    // control while angled over. This greatly improves the stability
    // of the last phase of transitions
    float tilt_threshold = (tilt.max_angle_deg/90.0f);
    bool equal_thrust = (tilt.current_tilt > tilt_threshold);

    // tell motors library about the tilt
    motors->set_motor_tilt_factor(tilt_factor, tilt.tilt_mask, equal_thrust);
}

/*
  update motor tilt
 */
void QuadPlane::tiltrotor_update(void)
{
    if (tilt.tilt_mask <= 0) {
        // no motors to tilt
        return;
    }

    // default to inactive
    tilt.motors_active = false;

    // the maximum rate of throttle change
    float max_change = (tilt.max_rate_dps.get() * plane.G_Dt) / 90.0f;
    
    if (!in_vtol_mode() && !assisted_flight) {
        // we are in pure fixed wing mode. Move the tiltable motors all the way forward and run them as
        // a forward motor
        tiltrotor_slew(1);

        float new_throttle = plane.channel_throttle->servo_out*0.01f;
        if (tilt.current_tilt < 1) {
            tilt.current_throttle = constrain_float(new_throttle,
                                                    tilt.current_throttle-max_change,
                                                    tilt.current_throttle+max_change);
        } else {
            tilt.current_throttle = new_throttle;
        }
        if (!hal.util->get_soft_armed()) {
            tilt.current_throttle = 0;
        } else {
            motors->output_motor_mask(tilt.current_throttle, (uint8_t)tilt.tilt_mask.get());
            // prevent motor shutdown
            tilt.motors_active = true;
        }
        return;
    }

    // remember the throttle level we're using for VTOL flight
    tilt.current_throttle = constrain_float(motors->get_throttle(),
                                            tilt.current_throttle-max_change,
                                            tilt.current_throttle+max_change);
    
    /*
      we are in a VTOL mode. We need to work out how much tilt is
      needed. There are 3 strategies we will use:

      1) in QSTABILIZE or QHOVER the angle will be set to zero. This
         enables these modes to be used as a safe recovery mode.

      2) in fixed wing assisted flight or velocity controlled modes we
         will set the angle based on the demanded forward throttle,
         with a maximum tilt given by Q_TILT_MAX. This relies on
         Q_VFWD_GAIN being set

      3) if we are in TRANSITION_TIMER mode then we are transitioning
         to forward flight and should put the rotors all the way forward
    */
    if (plane.control_mode == QSTABILIZE ||
        plane.control_mode == QHOVER) {
        tiltrotor_slew(0);
        return;
    }

    if (assisted_flight &&
        transition_state >= TRANSITION_TIMER) {
        // we are transitioning to fixed wing - tilt the motors all
        // the way forward
        tiltrotor_slew(1);
    } else {
        // until we have completed the transition we limit the tilt to
        // Q_TILT_MAX. Anything above 50% throttle gets
        // Q_TILT_MAX. Below 50% throttle we decrease linearly. This
        // relies heavily on Q_VFWD_GAIN being set appropriately.
        float settilt = constrain_float(plane.channel_throttle->servo_out / 50.0f, 0, 1);
        tiltrotor_slew(settilt * tilt.max_angle_deg / 90.0f);
    }
}