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fw: add takeoff flaps setting #9858

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merged 2 commits into from
Jul 11, 2018
Merged

fw: add takeoff flaps setting #9858

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34af385
fw att+pos ctrl: add takeoff flaps setting
Jul 6, 2018
07adc0c
fw att+pos ctrl: use enum for flaps configs
Jul 8, 2018
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5 changes: 4 additions & 1 deletion msg/vehicle_attitude_setpoint.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,10 @@ bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
bool fw_control_yaw # control heading with rudder (used for auto takeoff on runway)
bool disable_mc_yaw_control # control yaw for mc (used for vtol weather-vane mode)

bool apply_flaps
uint8 apply_flaps # flap config specifier
uint8 FLAPS_OFF = 0 # no flaps
uint8 FLAPS_LAND = 1 # landing config flaps
uint8 FLAPS_TAKEOFF = 2 # take-off config flaps

float32 landing_gear

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17 changes: 15 additions & 2 deletions src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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Expand Up @@ -106,6 +106,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_parameter_handles.acro_max_z_rate = param_find("FW_ACRO_Z_MAX");

_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
_parameter_handles.flaps_takeoff_scale = param_find("FW_FLAPS_TO_SCL");
_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");

_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
Expand Down Expand Up @@ -201,6 +202,7 @@ FixedwingAttitudeControl::parameters_update()
_parameters.acro_max_z_rate_rad = math::radians(_parameters.acro_max_z_rate_rad);

param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
param_get(_parameter_handles.flaps_takeoff_scale, &_parameters.flaps_takeoff_scale);
param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);

param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
Expand Down Expand Up @@ -875,7 +877,17 @@ void FixedwingAttitudeControl::control_flaps(const float dt)

} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
flap_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaps_scale : 0.0f;
switch (_att_sp.apply_flaps) {
case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
break;

case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
break;

case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *
_parameters.flaps_takeoff_scale; // take-off flaps
break;
}
}

// move the actual control value continuous with time, full flap travel in 1sec
Expand All @@ -896,7 +908,8 @@ void FixedwingAttitudeControl::control_flaps(const float dt)

} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = _att_sp.apply_flaps ? 1.0f * _parameters.flaperon_scale : 0.0f;
flaperon_control = (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) ? 1.0f *
_parameters.flaperon_scale : 0.0f;
}

// move the actual control value continuous with time, full flap travel in 1sec
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2 changes: 2 additions & 0 deletions src/modules/fw_att_control/FixedwingAttitudeControl.hpp
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Expand Up @@ -196,6 +196,7 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
float acro_max_z_rate_rad;

float flaps_scale; /**< Scale factor for flaps */
float flaps_takeoff_scale; /**< Scale factor for flaps on take-off */
float flaperon_scale; /**< Scale factor for flaperons */

float rattitude_thres;
Expand Down Expand Up @@ -264,6 +265,7 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
param_t acro_max_z_rate;

param_t flaps_scale;
param_t flaps_takeoff_scale;
param_t flaperon_scale;

param_t rattitude_thres;
Expand Down
14 changes: 14 additions & 0 deletions src/modules/fw_att_control/fw_att_control_params.c
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Expand Up @@ -485,6 +485,20 @@ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f);
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);

/**
* Flaps setting during take-off
*
* Sets a fraction of full flaps (FW_FLAPS_SCL) during take-off
*
* @unit norm
* @min 0.0
* @max 1.0
* @decimal 2
* @increment 0.01
* @group FW Attitude Control
*/
PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);

/**
* Scale factor for flaperons
*
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8 changes: 6 additions & 2 deletions src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -704,7 +704,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
bool setpoint = true;

_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
_att_sp.apply_flaps = false; // by default we don't use flaps
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps

calculate_gndspeed_undershoot(curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);

Expand Down Expand Up @@ -1137,6 +1137,10 @@ FixedwingPositionControl::control_takeoff(const Vector2f &curr_pos, const Vector
prev_wp(1) = (float)pos_sp_curr.lon;
}

// apply flaps for takeoff according to the corresponding scale factor set
// via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_TAKEOFF;

// continuously reset launch detection and runway takeoff until armed
if (!_control_mode.flag_armed) {
_launchDetector.reset();
Expand Down Expand Up @@ -1305,7 +1309,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector

// apply full flaps for landings. this flag will also trigger the use of flaperons
// if they have been enabled using the corresponding parameter
_att_sp.apply_flaps = true;
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;

// save time at which we started landing and reset abort_landing
if (_time_started_landing == 0) {
Expand Down