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Differential thrust for tailsitter #12518

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Differential thrust for tailsitter #12518

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edb0bc1
Merge pull request #1 from PX4/master
bluecat1997 Jul 19, 2019
dd6954f
fixed differential thrust in fw mode in tailsitter linked to roll con…
bluecat1997 Jul 19, 2019
ec1e29f
change format
bluecat1997 Jul 19, 2019
4707ccd
redo CI ROS Test
bluecat1997 Jul 19, 2019
220c196
Merge branch 'master' into pr_differential_thrust_for_tailsitter
bluecat1997 Aug 21, 2019
1a765e6
Merge branch 'master' into pr_differential_thrust_for_tailsitter
bluecat1997 Aug 26, 2019
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16 changes: 10 additions & 6 deletions src/modules/vtol_att_control/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -261,12 +261,6 @@ void Tailsitter::waiting_on_tecs()
void Tailsitter::update_fw_state()
{
VtolType::update_fw_state();

// allow fw yawrate control via multirotor roll actuation. this is useful for vehicles
// which don't have a rudder to coordinate turns
if (_params->diff_thrust == 1) {
_mc_roll_weight = 1.0f;
}
}

/**
Expand All @@ -291,9 +285,18 @@ void Tailsitter::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];

/* allow differential thrust if enabled */
if (_params->diff_thrust == 1) {
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
}

} else {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];

_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_ROLL] * _mc_roll_weight;
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Isn't this duplicating what's already done on line 277?

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it just to redefine the relations between actuators_out and actuators_in for roll axis in mc mode to avoid my code on line 290 for fw mode make roll control in mc control unpredictable. I don't know if it is necessary, so I insert this code. If you think it isn't necessary here we can delete it but need to do fly test.

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@dagar dagar Oct 15, 2019 •
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It looks like you're repeating work already done on line 277 (_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] ). Please verify and delete if that's the case.

}

if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
Expand All @@ -307,3 +310,4 @@ void Tailsitter::fill_actuator_outputs()
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
}
}