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Towards controlled VTOL transitions #14405

Merged
merged 8 commits into from
Apr 2, 2020
Merged

Towards controlled VTOL transitions #14405

merged 8 commits into from
Apr 2, 2020

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RomanBapst
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@RomanBapst RomanBapst commented Mar 17, 2020 •
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This PR enables following features for standard VTOL and tiltrotors:

  • deceleration control via pitch during transition
  • lateral control using fixed wing L1 controller

The above features can greatly improve path tracking during transition and reduce overshooting effects. Below you can see an example of a simple mission with the old state and the new state.
This PR also enables direction control in manual modes for both front and back-transition. This is very useful as you can still try to avoid obstacles during transitions.

This now needs a lot of testing in order to identify corner cases and improvements.

Master:
mission_master

This pull request:
mission_PR

@RomanBapst RomanBapst requested review from sfuhrer and dagar March 17, 2020 11:35
@RomanBapst RomanBapst assigned sfuhrer and RomanBapst and unassigned sfuhrer Mar 17, 2020
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@PX4/testflights Do you guys have a VTOL for testing still?

@RomanBapst RomanBapst force-pushed the pr-controlled_backtransition branch from c052b63 to 2114ef6 Compare March 17, 2020 12:01
bresch
bresch requested changes Mar 18, 2020
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Nice. Basically the FF depends on the pitch-to-drag coefficient, correct? I guess it shouldn't be difficult to tune but might require some documentation.

src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp Outdated Show resolved Hide resolved
src/modules/vtol_att_control/vtol_type.cpp Outdated Show resolved Hide resolved
src/modules/vtol_att_control/vtol_type.cpp Outdated Show resolved Hide resolved
src/modules/vtol_att_control/vtol_type.cpp Outdated Show resolved Hide resolved
src/modules/vtol_att_control/vtol_type.cpp Outdated Show resolved Hide resolved
src/modules/vtol_att_control/vtol_type.h Outdated Show resolved Hide resolved
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@bresch Thanks for the review!

bresch
bresch previously approved these changes Mar 19, 2020
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@RomanBapst Please attach the logs of the flight tests

dayjaby
dayjaby reviewed Mar 24, 2020
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src/modules/vtol_att_control/vtol_att_control_params.c Outdated
* @increment 0.5
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_B_DEC_SP, 2.0f);
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In which scenarios does this parameter differ from VT_B_DEC_MSS?

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@dayjaby I have already prepared a commit which merged those two parameters, will push asap.

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@dayjaby This is not fixed by the way.

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dannyfpv commented Mar 24, 2020 •
edited by Tony3dr
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Tested on Pixhawk 4 mini v5 v-tol Convergence
Wind Speed: 4.6 m/s
Modes Tested:
Position Mode: Good.
Mission mode: good

Daily master log:
https://review.px4.io/plot_app?log=0ef0f2db-7f12-438e-88ba-7694b917eb44

Pr log:
https://review.px4.io/plot_app?log=6a0c05f9-dfab-42b5-8b76-11d8151b0efd

Notes:
We did a short mission, take off In position mode, switched to Mission mode, the vehicle completed the waypoints, RTL trigerred, switched back to position and landed the vehicle manually. Good flight no issues.

@mrpollo mrpollo mentioned this pull request Mar 25, 2020
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RomanBapst and others added 8 commits April 2, 2020 09:22
@RomanBapst
run l1 during transition
0e5aaad
@RomanBapst
transition flighttask: don't control yaw and altitude during trans
1f4da42 
Signed-off-by: RomanBapst <[email protected]>

# Conflicts:
#	src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
@RomanBapst
vtol_type: added explicit control over deceleration during backtransi…
721753d 
…tion

Signed-off-by: RomanBapst <[email protected]>
@RomanBapst
vtol_type: calculate backtransition acceleration in forward direction
7da4740 
- use track angle to calculate the current forward acceleration

Signed-off-by: RomanBapst <[email protected]>
@RomanBapst
better comments
bda76fd 
Signed-off-by: RomanBapst <[email protected]>
@RomanBapst
tiltrotor: enable l1 and deceleration control during transition
5d4aaec 
Signed-off-by: RomanBapst <[email protected]>
@RomanBapst @bresch
Apply suggestions from code review
5ab29bf 
Co-Authored-By: Mathieu Bresciani <[email protected]>
@RomanBapst
vtol_att_control: got rid of VT_B_DEC_SP
c2ba2cf 
Signed-off-by: RomanBapst <[email protected]>
@RomanBapst RomanBapst force-pushed the pr-controlled_backtransition branch from 373f135 to c2ba2cf Compare April 2, 2020 07:08
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@hamishwillee You've pinged me on another doc PR regarding the docs of transition. This will need an update in the docs. I can propose the changes.

@RomanBapst RomanBapst merged commit 2522435 into master Apr 2, 2020
@RomanBapst RomanBapst deleted the pr-controlled_backtransition branch April 2, 2020 10:45
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You've pinged me on another doc PR regarding the docs of transition. This will need an update in the docs. I can propose the changes.

@RomanBapst Awesome - when?

FYI the PR you refer to was merged: PX4/PX4-user_guide#702

@MaEtUgR MaEtUgR mentioned this pull request Apr 19, 2020
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@ThomasRigi ThomasRigi mentioned this pull request May 11, 2020
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@ThomasRigi ThomasRigi mentioned this pull request May 19, 2020
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@dagar dagar Awaiting requested review from dagar

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@RomanBapst @dannyfpv @hamishwillee @dayjaby @bresch @dagar @sfuhrer