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Pr tailsitter ci #9330

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merged 5 commits into from
Apr 18, 2018
Merged

Pr tailsitter ci #9330

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11920b1
tailsitter: use forward transition throttle for climb-rate controlled…
RomanBapst Apr 18, 2018
4edbe11
Jenkins add tailsitter CI mission
dagar Apr 14, 2018
25f1009
posix-configs: better tailsitter front transition parameters
RomanBapst Apr 18, 2018
e81e97d
posix-configs: set tailsitter SITL SYS_AUTOSTART to quad tailsitter
RomanBapst Apr 18, 2018
279edaa
posix-configs: increase tailsitter land speed
RomanBapst Apr 18, 2018
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33 changes: 32 additions & 1 deletion Jenkinsfile
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Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ pipeline {
}
}

stage('ROS vtol mission new 1') {
stage('ROS vtol standard mission new 1') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-03-30'
Expand Down Expand Up @@ -271,6 +271,37 @@ pipeline {
}
}

stage('ROS vtol tailsitter mission') {
agent {
docker {
image 'px4io/px4-dev-ros:2018-03-30'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
}
}
steps {
sh 'export'
sh 'make distclean; rm -rf .ros; rm -rf .gazebo'
sh 'git fetch --tags'
sh 'make posix_sitl_default'
sh 'make posix_sitl_default sitl_gazebo'
sh './test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=vtol_new_1 vehicle:=tailsitter'
sh './Tools/ecl_ekf/process_logdata_ekf.py `find . -name *.ulg -print -quit`'
}
post {
always {
sh './Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/rootfs/fs/microsd/log/*/*.ulg'
archiveArtifacts '.ros/**/*.pdf'
archiveArtifacts '.ros/**/*.csv'
sh 'make distclean'
}
failure {
archiveArtifacts '.ros/**/*.ulg'
archiveArtifacts '.ros/**/rosunit-*.xml'
archiveArtifacts '.ros/**/rostest-*.log'
}
}
}

stage('ROS vtol mission new 2') {
agent {
docker {
Expand Down
5 changes: 4 additions & 1 deletion posix-configs/SITL/init/ekf2/tailsitter
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Expand Up @@ -31,15 +31,18 @@ param set MPC_XY_VEL_D 0.005
param set MPC_XY_VEL_P 0.05
param set MPC_Z_VEL_I 0.15
param set MPC_Z_VEL_P 0.8
param set MPC_LAND_SPEED 1.5
param set NAV_DLL_ACT 2
param set SDLOG_DIRS_MAX 7
param set SENS_BOARD_ROT 0
param set SENS_BOARD_X_OFF 0.000001
param set SENS_DPRES_OFF 0.001
param set SYS_AUTOSTART 4010
param set SYS_AUTOSTART 13003
param set SYS_MC_EST_GROUP 2
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Change SYS_AUTOSTART to something more appropriate.

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Ah yeah, forgot about this

param set SYS_RESTART_TYPE 2
param set VT_TYPE 0
param set VT_F_TRANS_DUR 1.5
param set VT_F_TRANS_THR 0.7
replay tryapplyparams
simulator start -s
tone_alarm start
Expand Down
12 changes: 7 additions & 5 deletions src/modules/vtol_att_control/tailsitter.cpp
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Expand Up @@ -198,8 +198,6 @@ void Tailsitter::update_transition_state()
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
_pitch_transition_start);

_v_att_sp->thrust = _mc_virtual_att_sp->thrust;

// disable mc yaw control once the plane has picked up speed
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
_mc_yaw_weight = 0.0f;
Expand All @@ -222,9 +220,6 @@ void Tailsitter::update_transition_state()
time_since_trans_start / _params->back_trans_duration;
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);


_v_att_sp->thrust = _mc_virtual_att_sp->thrust;

// keep yaw disabled
_mc_yaw_weight = 0.0f;

Expand All @@ -233,6 +228,13 @@ void Tailsitter::update_transition_state()

}

if (_v_control_mode->flag_control_climb_rate_enabled) {
_v_att_sp->thrust = _params->front_trans_throttle;

} else {
_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
}

_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
Expand Down