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Fix differential thrust for Tailsitter in FW mode #16537

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merged 1 commit into from
Jan 18, 2021
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Merged

Fix differential thrust for Tailsitter in FW mode #16537

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10 changes: 5 additions & 5 deletions src/modules/vtol_att_control/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -268,11 +268,6 @@ 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 @@ -293,6 +288,11 @@ void Tailsitter::fill_actuator_outputs()
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];

/* allow differential thrust if enabled */
if (_params->diff_thrust == 1) {
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I suggest moving this change to the top to keep it clean (only responsible for determining the throttle)

if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE && _params->diff_thrust == 1)) {
mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
} else {
mc_out[actuator_controls_s::INDEX_ROLL]  = mc_in[actuator_controls_s::INDEX_ROLL]  * _mc_roll_weight;
}

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For tailsitter users, when should I enable this parameter and when should I disable it?

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I don't have a strong opinion for one or the other way, both work.

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For tailsitter users, when should I enable this parameter and when should I disable it?

You should enable it when your vehicle has bad passive yaw stability or you want to fly aggressive maneuvers.

mc_out[actuator_controls_s::INDEX_ROLL] = fw_in[actuator_controls_s::INDEX_YAW] * _params->diff_thrust_scale;
}

} else {
mc_out[actuator_controls_s::INDEX_THROTTLE] = mc_in[actuator_controls_s::INDEX_THROTTLE];
}
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