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VTOL standard: introduce scale for FW control surfaces in hover #12946

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VTOL standard: introduce scale for FW control surfaces in hover #12946

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13 changes: 11 additions & 2 deletions src/modules/vtol_att_control/standard.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,9 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
_params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL");

_params_handles_standard.mc_to_fw_gain_roll = param_find("VT_MC_AILE_GAIN");
_params_handles_standard.mc_to_fw_gain_pitch = param_find("VT_MC_ELEV_GAIN");
}

void
Expand Down Expand Up @@ -103,6 +106,12 @@ Standard::parameters_update()
param_get(_params_handles_standard.reverse_delay, &v);
_params_standard.reverse_delay = math::constrain(v, 0.0f, 10.0f);

param_get(_params_handles_standard.mc_to_fw_gain_roll, &v);
_params_standard.mc_to_fw_gain_roll = math::constrain(v, 0.0f, 10.0f);

param_get(_params_handles_standard.mc_to_fw_gain_pitch, &v);
_params_standard.mc_to_fw_gain_pitch = math::constrain(v, 0.0f, 10.0f);

}

void Standard::update_vtol_state()
Expand Down Expand Up @@ -442,11 +451,11 @@ void Standard::fill_actuator_outputs()
} else {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL] * _params_standard.mc_to_fw_gain_roll;

// pitch
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH];
_actuators_fw_in->control[actuator_controls_s::INDEX_PITCH] * _params_standard.mc_to_fw_gain_pitch;

_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_AIRBRAKES] = 0.0f;
Expand Down
4 changes: 4 additions & 0 deletions src/modules/vtol_att_control/standard.h
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Expand Up @@ -74,6 +74,8 @@ class Standard : public VtolType
float pitch_setpoint_offset;
float reverse_output;
float reverse_delay;
float mc_to_fw_gain_roll;
float mc_to_fw_gain_pitch;
} _params_standard;

struct {
Expand All @@ -84,6 +86,8 @@ class Standard : public VtolType
param_t pitch_setpoint_offset;
param_t reverse_output;
param_t reverse_delay;
param_t mc_to_fw_gain_roll;
param_t mc_to_fw_gain_pitch;
} _params_handles_standard;

enum class vtol_mode {
Expand Down
22 changes: 22 additions & 0 deletions src/modules/vtol_att_control/standard_params.c
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Expand Up @@ -112,3 +112,25 @@ PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);

/**
* Roll scale on fixed-wing actuators in hover.
*
* Determines how much the roll controlling surfaces (e.g. ailerons or elevons) are used to assist the multicopter motors in hover.
*
* @min 0
* @max 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_MC_AILE_GAIN, 1.0f);

/**
* Pitch scale on fixed-wing actuators in hover.
*
* Determines how much the pitch controlling surfaces (e.g. elevator or elevons) are used to assist the multicopter motors in hover.
*
* @min 0
* @max 3
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_MC_ELEV_GAIN, 1.0f);