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quadplane.cpp
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quadplane.cpp
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#include "Plane.h"
const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable QuadPlane
// @Description: This enables QuadPlane functionality, assuming multicopter motors start on output 5. If this is set to 2 then when starting AUTO mode it will initially be in VTOL AUTO mode.
// @Values: 0:Disable,1:Enable,2:Enable VTOL AUTO
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 1, QuadPlane, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Group: M_
// @Path: ../libraries/AP_Motors/AP_MotorsMulticopter.cpp
AP_SUBGROUPVARPTR(motors, "M_", 2, QuadPlane, plane.quadplane.motors_var_info),
// 3 ~ 8 were used by quadplane attitude control PIDs
// @Param: ANGLE_MAX
// @DisplayName: Angle Max
// @Description: Maximum lean angle in all VTOL flight modes
// @Units: cdeg
// @Range: 1000 8000
// @User: Advanced
AP_GROUPINFO("ANGLE_MAX", 10, QuadPlane, aparm.angle_max, 3000),
// @Param: TRANSITION_MS
// @DisplayName: Transition time
// @Description: Transition time in milliseconds after minimum airspeed is reached
// @Units: ms
// @Range: 0 30000
// @User: Advanced
AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000),
// 12 ~ 16 were used by position, velocity and acceleration PIDs
// @Group: P
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
AP_SUBGROUPPTR(pos_control, "P", 17, QuadPlane, AC_PosControl),
// @Param: VELZ_MAX
// @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s
// @Units: cm/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO("VELZ_MAX", 18, QuadPlane, pilot_velocity_z_max, 250),
// @Param: ACCEL_Z
// @DisplayName: Pilot vertical acceleration
// @Description: The vertical acceleration used when pilot is controlling the altitude
// @Units: cm/s/s
// @Range: 50 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO("ACCEL_Z", 19, QuadPlane, pilot_accel_z, 250),
// @Group: WP_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
AP_SUBGROUPPTR(wp_nav, "WP_", 20, QuadPlane, AC_WPNav),
// @Param: RC_SPEED
// @DisplayName: RC output speed in Hz
// @Description: This is the PWM refresh rate in Hz for QuadPlane quad motors
// @Units: Hz
// @Range: 50 500
// @Increment: 10
// @User: Standard
AP_GROUPINFO("RC_SPEED", 21, QuadPlane, rc_speed, 490),
// @Param: THR_MIN_PWM
// @DisplayName: Minimum PWM output
// @Description: This is the minimum PWM output for the quad motors
// @Units: PWM
// @Range: 800 2200
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MIN_PWM", 22, QuadPlane, thr_min_pwm, 1000),
// @Param: THR_MAX_PWM
// @DisplayName: Maximum PWM output
// @Description: This is the maximum PWM output for the quad motors
// @Units: PWM
// @Range: 800 2200
// @Increment: 1
// @User: Standard
AP_GROUPINFO("THR_MAX_PWM", 23, QuadPlane, thr_max_pwm, 2000),
// @Param: ASSIST_SPEED
// @DisplayName: Quadplane assistance speed
// @Description: This is the speed below which the quad motors will provide stability and lift assistance in fixed wing modes. Zero means no assistance except during transition
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("ASSIST_SPEED", 24, QuadPlane, assist_speed, 0),
// @Param: YAW_RATE_MAX
// @DisplayName: Maximum yaw rate
// @Description: This is the maximum yaw rate for pilot input on rudder stick in degrees/second
// @Units: deg/s
// @Range: 50 500
// @Increment: 1
// @User: Standard
AP_GROUPINFO("YAW_RATE_MAX", 25, QuadPlane, yaw_rate_max, 100),
// @Param: LAND_SPEED
// @DisplayName: Land speed
// @Description: The descent speed for the final stage of landing in cm/s
// @Units: cm/s
// @Range: 30 200
// @Increment: 10
// @User: Standard
AP_GROUPINFO("LAND_SPEED", 26, QuadPlane, land_speed_cms, 50),
// @Param: LAND_FINAL_ALT
// @DisplayName: Land final altitude
// @Description: The altitude at which we should switch to Q_LAND_SPEED descent rate
// @Units: m
// @Range: 0.5 50
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("LAND_FINAL_ALT", 27, QuadPlane, land_final_alt, 6),
// 28 was used by THR_MID
// @Param: TRAN_PIT_MAX
// @DisplayName: Transition max pitch
// @Description: Maximum pitch during transition to auto fixed wing flight
// @User: Standard
// @Range: 0 30
// @Units: deg
// @Increment: 1
AP_GROUPINFO("TRAN_PIT_MAX", 29, QuadPlane, transition_pitch_max, 3),
// frame class was moved from 30 when consolidating AP_Motors classes
#define FRAME_CLASS_OLD_IDX 30
// @Param: FRAME_CLASS
// @DisplayName: Frame Class
// @Description: Controls major frame class for multicopter component
// @Values: 0:Undefined, 1:Quad, 2:Hexa, 3:Octa, 4:OctaQuad, 5:Y6, 7:Tri, 10: TailSitter
// @User: Standard
AP_GROUPINFO("FRAME_CLASS", 46, QuadPlane, frame_class, 1),
// @Param: FRAME_TYPE
// @DisplayName: Frame Type (+, X or V)
// @Description: Controls motor mixing for multicopter component
// @Values: 0:Plus, 1:X, 2:V, 3:H, 4:V-Tail, 5:A-Tail, 10:Y6B, 11:Y6F
// @User: Standard
AP_GROUPINFO("FRAME_TYPE", 31, QuadPlane, frame_type, 1),
// @Param: VFWD_GAIN
// @DisplayName: Forward velocity hold gain
// @Description: Controls use of forward motor in vtol modes. If this is zero then the forward motor will not be used for position control in VTOL modes. A value of 0.05 is a good place to start if you want to use the forward motor for position control. No forward motor will be used in QSTABILIZE or QHOVER modes. Use QLOITER for position hold with the forward motor.
// @Range: 0 0.5
// @Increment: 0.01
// @User: Standard
AP_GROUPINFO("VFWD_GAIN", 32, QuadPlane, vel_forward.gain, 0),
// @Param: WVANE_GAIN
// @DisplayName: Weathervaning gain
// @Description: This controls the tendency to yaw to face into the wind. A value of 0.1 is to start with and will give a slow turn into the wind. Use a value of 0.4 for more rapid response. The weathervaning works by turning into the direction of roll.
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
AP_GROUPINFO("WVANE_GAIN", 33, QuadPlane, weathervane.gain, 0),
// @Param: WVANE_MINROLL
// @DisplayName: Weathervaning min roll
// @Description: This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim.
// @Range: 0 10
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("WVANE_MINROLL", 34, QuadPlane, weathervane.min_roll, 1),
// @Param: RTL_ALT
// @DisplayName: QRTL return altitude
// @Description: The altitude which QRTL mode heads to initially
// @Units: m
// @Range: 1 200
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RTL_ALT", 35, QuadPlane, qrtl_alt, 15),
// @Param: RTL_MODE
// @DisplayName: VTOL RTL mode
// @Description: If this is set to 1 then an RTL will change to QRTL when within RTL_RADIUS meters of the RTL destination
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("RTL_MODE", 36, QuadPlane, rtl_mode, 0),
// @Param: TILT_MASK
// @DisplayName: Tiltrotor mask
// @Description: This is a bitmask of motors that are tiltable in a tiltrotor (or tiltwing). The mask is in terms of the standard motor order for the frame type.
// @User: Standard
AP_GROUPINFO("TILT_MASK", 37, QuadPlane, tilt.tilt_mask, 0),
// @Param: TILT_RATE_UP
// @DisplayName: Tiltrotor upwards tilt rate
// @Description: This is the maximum speed at which the motor angle will change for a tiltrotor when moving from forward flight to hover
// @Units: deg/s
// @Increment: 1
// @Range: 10 300
// @User: Standard
AP_GROUPINFO("TILT_RATE_UP", 38, QuadPlane, tilt.max_rate_up_dps, 40),
// @Param: TILT_MAX
// @DisplayName: Tiltrotor maximum VTOL angle
// @Description: This is the maximum angle of the tiltable motors at which multicopter control will be enabled. Beyond this angle the plane will fly solely as a fixed wing aircraft and the motors will tilt to their maximum angle at the TILT_RATE
// @Units: deg
// @Increment: 1
// @Range: 20 80
// @User: Standard
AP_GROUPINFO("TILT_MAX", 39, QuadPlane, tilt.max_angle_deg, 45),
// @Param: GUIDED_MODE
// @DisplayName: Enable VTOL in GUIDED mode
// @Description: This enables use of VTOL in guided mode. When enabled the aircraft will switch to VTOL flight when the guided destination is reached and hover at the destination.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("GUIDED_MODE", 40, QuadPlane, guided_mode, 0),
// 41 was used by THR_MIN
// @Param: ESC_CAL
// @DisplayName: ESC Calibration
// @Description: This is used to calibrate the throttle range of the VTOL motors. Please read http://ardupilot.org/plane/docs/quadplane-esc-calibration.html before using. This parameter is automatically set back to 0 on every boot. This parameter only takes effect in QSTABILIZE mode. When set to 1 the output of all motors will come directly from the throttle stick when armed, and will be zero when disarmed. When set to 2 the output of all motors will be maximum when armed and zero when disarmed. Make sure you remove all properllers before using.
// @Values: 0:Disabled,1:ThrottleInput,2:FullInput
// @User: Standard
AP_GROUPINFO("ESC_CAL", 42, QuadPlane, esc_calibration, 0),
// @Param: VFWD_ALT
// @DisplayName: Forward velocity alt cutoff
// @Description: Controls altitude to disable forward velocity assist when below this relative altitude. This is useful to keep the forward velocity propeller from hitting the ground. Rangefinder height data is incorporated when available.
// @Units: m
// @Range: 0 10
// @Increment: 0.25
// @User: Standard
AP_GROUPINFO("VFWD_ALT", 43, QuadPlane, vel_forward_alt_cutoff, 0),
// @Param: LAND_ICE_CUT
// @DisplayName: Cut IC engine on landing
// @Description: This controls stopping an internal combustion engine in the final landing stage of a VTOL. This is important for aircraft where the forward thrust engine may experience prop-strike if left running during landing. This requires the engine controls are enabled using the ICE_* parameters.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("LAND_ICE_CUT", 44, QuadPlane, land_icengine_cut, 1),
// @Param: ASSIST_ANGLE
// @DisplayName: Quadplane assistance angle
// @Description: This is the angular error in attitude beyond which the quadplane VTOL motors will provide stability assistance. This will only be used if Q_ASSIST_SPEED is also non-zero. Assistance will be given if the attitude is outside the normal attitude limits by at least 5 degrees and the angular error in roll or pitch is greater than this angle for at least 1 second. Set to zero to disable angle assistance.
// @Units: deg
// @Range: 0 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ASSIST_ANGLE", 45, QuadPlane, assist_angle, 30),
// @Param: TILT_TYPE
// @DisplayName: Tiltrotor type
// @Description: This is the type of tiltrotor when TILT_MASK is non-zero. A continuous tiltrotor can tilt the rotors to any angle on demand. A binary tiltrotor assumes a retract style servo where the servo is either fully forward or fully up. In both cases the servo can't move faster than Q_TILT_RATE. A vectored yaw tiltrotor will use the tilt of the motors to control yaw in hover
// @Values: 0:Continuous,1:Binary,2:VectoredYaw
AP_GROUPINFO("TILT_TYPE", 47, QuadPlane, tilt.tilt_type, TILT_TYPE_CONTINUOUS),
// @Param: TAILSIT_ANGLE
// @DisplayName: Tailsitter transition angle
// @Description: This is the angle at which tailsitter aircraft will change from VTOL control to fixed wing control.
// @Range: 5 80
AP_GROUPINFO("TAILSIT_ANGLE", 48, QuadPlane, tailsitter.transition_angle, 45),
// @Param: TILT_RATE_DN
// @DisplayName: Tiltrotor downwards tilt rate
// @Description: This is the maximum speed at which the motor angle will change for a tiltrotor when moving from hover to forward flight. When this is zero the Q_TILT_RATE_UP value is used.
// @Units: deg/s
// @Increment: 1
// @Range: 10 300
// @User: Standard
AP_GROUPINFO("TILT_RATE_DN", 49, QuadPlane, tilt.max_rate_down_dps, 0),
// @Param: TAILSIT_INPUT
// @DisplayName: Tailsitter input type
// @Description: This controls whether stick input when hovering as a tailsitter follows the conventions for fixed wing hovering or multicopter hovering. When multicopter input is selected the roll stick will roll the aircraft in earth frame and yaw stick will yaw in earth frame. When using fixed wing input the roll and yaw sticks will control the aircraft in body frame.
// @Values: 0:MultiCopterInput,1:FixedWingInput
AP_GROUPINFO("TAILSIT_INPUT", 50, QuadPlane, tailsitter.input_type, TAILSITTER_INPUT_MULTICOPTER),
// @Param: TAILSIT_MASK
// @DisplayName: Tailsitter input mask
// @Description: This controls what channels have full manual control when hovering as a tailsitter and the Q_TAILSIT_MASKCH channel in high. This can be used to teach yourself to prop-hang a 3D plane by learning one or more channels at a time.
// @Bitmask: 0:Aileron,1:Elevator,2:Throttle,3:Rudder
AP_GROUPINFO("TAILSIT_MASK", 51, QuadPlane, tailsitter.input_mask, 0),
// @Param: TAILSIT_MASKCH
// @DisplayName: Tailsitter input mask channel
// @Description: This controls what input channel will activate the Q_TAILSIT_MASK mask. When this channel goes above 1700 then the pilot will have direct manual control of the output channels specified in Q_TAILSIT_MASK. Set to zero to disable.
// @Values: 0:Disabled,1:Channel1,2:Channel2,3:Channel3,4:Channel4,5:Channel5,6:Channel6,7:Channel7,8:Channel8
AP_GROUPINFO("TAILSIT_MASKCH", 52, QuadPlane, tailsitter.input_mask_chan, 0),
// @Param: TAILSIT_VFGAIN
// @DisplayName: Tailsitter vector thrust gain in forward flight
// @Description: This controls the amount of vectored thrust control used in forward flight for a vectored tailsitter
// @Range: 0 1
// @Increment: 0.01
AP_GROUPINFO("TAILSIT_VFGAIN", 53, QuadPlane, tailsitter.vectored_forward_gain, 0),
// @Param: TAILSIT_VHGAIN
// @DisplayName: Tailsitter vector thrust gain in hover
// @Description: This controls the amount of vectored thrust control used in hover for a vectored tailsitter
// @Range: 0 1
// @Increment: 0.01
AP_GROUPINFO("TAILSIT_VHGAIN", 54, QuadPlane, tailsitter.vectored_hover_gain, 0.5),
// @Param: TILT_YAW_ANGLE
// @DisplayName: Tilt minimum angle for vectored yaw
// @Description: This is the angle of the tilt servos when in VTOL mode and at minimum output. This needs to be set for Q_TILT_TYPE=3 to enable vectored control for yaw of tricopter tilt quadplanes.
// @Range: 0 30
AP_GROUPINFO("TILT_YAW_ANGLE", 55, QuadPlane, tilt.tilt_yaw_angle, 0),
// @Param: TAILSIT_VHPOW
// @DisplayName: Tailsitter vector thrust gain power
// @Description: This controls the amount of extra pitch given to the vectored control when at high pitch errors
// @Range: 0 4
// @Increment: 0.1
AP_GROUPINFO("TAILSIT_VHPOW", 56, QuadPlane, tailsitter.vectored_hover_power, 2.5),
// @Param: MAV_TYPE
// @DisplayName: MAVLink type identifier
// @Description: This controls the mavlink type given in HEARTBEAT messages. For some GCS types a particular setting will be needed for correct operation.
// @Values: 0:AUTO,1:FIXED_WING,2:QUADROTOR,3:COAXIAL,4:HELICOPTER,7:AIRSHIP,8:FREE_BALLOON,9:ROCKET,10:GROUND_ROVER,11:SURFACE_BOAT,12:SUBMARINE,16:FLAPPING_WING,17:KITE,19:VTOL_DUOROTOR,20:VTOL_QUADROTOR,21:VTOL_TILTROTOR
AP_GROUPINFO("MAV_TYPE", 57, QuadPlane, mav_type, 0),
// @Param: OPTIONS
// @DisplayName: quadplane options
// @Description: This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight, and the vehicle will not use the vertical lift motors to climb during the transition. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land. If respect takeoff frame is not set the vehicle will interpret all takeoff waypoints as an altitude above the corrent position.
// @Bitmask: 0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand,3:Respect takeoff frame types,4:Use a fixed wing approach for VTOL landings
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
AP_GROUPEND
};
// second table of user settable parameters for quadplanes, this
// allows us to go beyond the 64 parameter limit
const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Param: TRANS_DECEL
// @DisplayName: Transition deceleration
// @Description: This is deceleration rate that will be used in calculating the stopping distance when transitioning from fixed wing flight to multicopter flight.
// @Units: m/s/s
// @Increment: 0.1
// @Range: 0.2 5
// @User: Standard
AP_GROUPINFO("TRANS_DECEL", 1, QuadPlane, transition_decel, 2.0),
// @Group: LOIT_
// @Path: ../libraries/AC_WPNav/AC_Loiter.cpp
AP_SUBGROUPPTR(loiter_nav, "LOIT_", 2, QuadPlane, AC_Loiter),
// @Param: TAILSIT_THSCMX
// @DisplayName: Maximum control throttle scaling value
// @Description: Maximum value of throttle scaling for tailsitter velocity scaling, reduce this value to remove low thorottle D ossilaitons
// @Range: 1 5
// @User: Standard
AP_GROUPINFO("TAILSIT_THSCMX", 3, QuadPlane, tailsitter.throttle_scale_max, 5),
// @Param: TRIM_PITCH
// @DisplayName: Quadplane AHRS trim pitch
// @Description: This sets the compensation for the pitch angle trim difference between forward and vertical flight pitch, NOTE! this is relative to forward flight trim not mounting locaiton. For tailsitters this is relative to a baseline of 90 degrees.
// @Units: deg
// @Range: -10 +10
// @Increment: 0.1
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("TRIM_PITCH", 4, QuadPlane, ahrs_trim_pitch, 0),
// @Param: TAILSIT_RLL_MX
// @DisplayName: Maximum Roll angle
// @Description: Maximum Allowed roll angle for tailsitters. If this is zero then Q_ANGLE_MAX is used.
// @Units: deg
// @Range: 0 80
// @User: Standard
AP_GROUPINFO("TAILSIT_RLL_MX", 5, QuadPlane, tailsitter.max_roll_angle, 0),
#if QAUTOTUNE_ENABLED
// @Group: AUTOTUNE_
// @Path: qautotune.cpp
AP_SUBGROUPINFO(qautotune, "AUTOTUNE_", 6, QuadPlane, QAutoTune),
#endif
// @Param: FW_LND_APR_RAD
// @DisplayName: Quadplane fixed wing landing approach radius
// @Description: This provides the radius used, when using a fixed wing landing approach. If set to 0 then the WP_LOITER_RAD will be selected.
// @Units: m
// @Range: 0 200
// @Increment: 5
// @User: Advanced
AP_GROUPINFO("FW_LND_APR_RAD", 7, QuadPlane, fw_land_approach_radius, 0),
AP_GROUPEND
};
/*
defaults for all quadplanes
*/
static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "Q_A_RAT_RLL_P", 0.25 },
{ "Q_A_RAT_RLL_I", 0.25 },
{ "Q_A_RAT_RLL_FILT", 10.0 },
{ "Q_A_RAT_PIT_P", 0.25 },
{ "Q_A_RAT_PIT_I", 0.25 },
{ "Q_A_RAT_PIT_FILT", 10.0 },
{ "Q_M_SPOOL_TIME", 0.25 },
{ "Q_LOIT_ANG_MAX", 15.0 },
{ "Q_LOIT_ACC_MAX", 250.0 },
{ "Q_LOIT_BRK_ACCEL", 50.0 },
{ "Q_LOIT_BRK_JERK", 250 },
{ "Q_LOIT_SPEED", 500 },
};
/*
extra defaults for tailsitters
*/
static const struct AP_Param::defaults_table_struct defaults_table_tailsitter[] = {
{ "KFF_RDDRMIX", 0.02 },
{ "Q_A_RAT_PIT_FF", 0.2 },
{ "Q_A_RAT_YAW_FF", 0.2 },
{ "Q_A_RAT_YAW_I", 0.18 },
{ "LIM_PITCH_MAX", 3000 },
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
{ "RUDD_DT_GAIN", 10 },
{ "Q_TRANSITION_MS", 2000 },
};
/*
conversion table for quadplane parameters
*/
const AP_Param::ConversionInfo q_conversion_table[] = {
{ Parameters::k_param_quadplane, 4044, AP_PARAM_FLOAT, "Q_P_POSZ_P" }, // Q_PZ_P
{ Parameters::k_param_quadplane, 4045, AP_PARAM_FLOAT, "Q_P_POSXY_P"}, // Q_PXY_P
{ Parameters::k_param_quadplane, 4046, AP_PARAM_FLOAT, "Q_P_VELXY_P"}, // Q_VXY_P
{ Parameters::k_param_quadplane, 78, AP_PARAM_FLOAT, "Q_P_VELXY_I"}, // Q_VXY_I
{ Parameters::k_param_quadplane, 142, AP_PARAM_FLOAT, "Q_P_VELXY_IMAX"}, // Q_VXY_IMAX
{ Parameters::k_param_quadplane, 206, AP_PARAM_FLOAT, "Q_P_VELXY_FILT"}, // Q_VXY_FILT_HZ
{ Parameters::k_param_quadplane, 4047, AP_PARAM_FLOAT, "Q_P_VELZ_P"}, // Q_VZ_P
{ Parameters::k_param_quadplane, 4048, AP_PARAM_FLOAT, "Q_P_ACCZ_P"}, // Q_AZ_P
{ Parameters::k_param_quadplane, 80, AP_PARAM_FLOAT, "Q_P_ACCZ_I"}, // Q_AZ_I
{ Parameters::k_param_quadplane, 144, AP_PARAM_FLOAT, "Q_P_ACCZ_D"}, // Q_AZ_D
{ Parameters::k_param_quadplane, 336, AP_PARAM_FLOAT, "Q_P_ACCZ_IMAX"}, // Q_AZ_IMAX
{ Parameters::k_param_quadplane, 400, AP_PARAM_FLOAT, "Q_P_ACCZ_FILT"}, // Q_AZ_FILT
{ Parameters::k_param_quadplane, 464, AP_PARAM_FLOAT, "Q_P_ACCZ_FF"}, // Q_AZ_FF
{ Parameters::k_param_quadplane, 276, AP_PARAM_FLOAT, "Q_LOIT_SPEED"}, // Q_WP_LOIT_SPEED
{ Parameters::k_param_quadplane, 468, AP_PARAM_FLOAT, "Q_LOIT_BRK_JERK" },// Q_WP_LOIT_JERK
{ Parameters::k_param_quadplane, 532, AP_PARAM_FLOAT, "Q_LOIT_ACC_MAX" }, // Q_WP_LOIT_MAXA
{ Parameters::k_param_quadplane, 596, AP_PARAM_FLOAT, "Q_LOIT_BRK_ACCEL" },// Q_WP_LOIT_MINA
};
QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :
ahrs(_ahrs)
{
AP_Param::setup_object_defaults(this, var_info);
AP_Param::setup_object_defaults(this, var_info2);
}
// setup default motors for the frame class
void QuadPlane::setup_default_channels(uint8_t num_motors)
{
for (uint8_t i=0; i<num_motors; i++) {
SRV_Channels::set_aux_channel_default(SRV_Channels::get_motor_function(i), CH_5+i);
}
}
bool QuadPlane::setup(void)
{
if (initialised) {
return true;
}
if (!enable || hal.util->get_soft_armed()) {
return false;
}
float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
enum AP_Motors::motor_frame_class motor_class;
enum Rotation rotation = ROTATION_NONE;
/*
cope with upgrade from old AP_Motors values for frame_class
*/
AP_Int8 old_class;
const AP_Param::ConversionInfo cinfo { Parameters::k_param_quadplane, FRAME_CLASS_OLD_IDX, AP_PARAM_INT8, nullptr };
if (AP_Param::find_old_parameter(&cinfo, &old_class) && !frame_class.load()) {
uint8_t new_value = 0;
// map from old values to new values
switch (old_class.get()) {
case 0:
new_value = AP_Motors::MOTOR_FRAME_QUAD;
break;
case 1:
new_value = AP_Motors::MOTOR_FRAME_HEXA;
break;
case 2:
new_value = AP_Motors::MOTOR_FRAME_OCTA;
break;
case 3:
new_value = AP_Motors::MOTOR_FRAME_OCTAQUAD;
break;
case 4:
new_value = AP_Motors::MOTOR_FRAME_Y6;
break;
}
frame_class.set_and_save(new_value);
}
if (hal.util->available_memory() <
4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav) + sizeof(*ahrs_view) + sizeof(*loiter_nav)) {
gcs().send_text(MAV_SEVERITY_INFO, "Not enough memory for quadplane");
goto failed;
}
/*
dynamically allocate the key objects for quadplane. This ensures
that the objects don't affect the vehicle unless enabled and
also saves memory when not in use
*/
motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_QUAD:
setup_default_channels(4);
break;
case AP_Motors::MOTOR_FRAME_HEXA:
setup_default_channels(6);
break;
case AP_Motors::MOTOR_FRAME_OCTA:
case AP_Motors::MOTOR_FRAME_OCTAQUAD:
setup_default_channels(8);
break;
case AP_Motors::MOTOR_FRAME_Y6:
setup_default_channels(7);
break;
case AP_Motors::MOTOR_FRAME_TRI:
SRV_Channels::set_default_function(CH_5, SRV_Channel::k_motor1);
SRV_Channels::set_default_function(CH_6, SRV_Channel::k_motor2);
SRV_Channels::set_default_function(CH_8, SRV_Channel::k_motor4);
SRV_Channels::set_default_function(CH_11, SRV_Channel::k_motor7);
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
break;
default:
hal.console->printf("Unknown frame class %u - using QUAD\n", (unsigned)frame_class.get());
frame_class.set(AP_Motors::MOTOR_FRAME_QUAD);
setup_default_channels(4);
break;
}
switch (motor_class) {
case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTri::var_info;
break;
case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsTailsitter::var_info;
rotation = ROTATION_PITCH_90;
break;
default:
motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
motors_var_info = AP_MotorsMatrix::var_info;
break;
}
const static char *strUnableToAllocate = "Unable to allocate";
if (!motors) {
hal.console->printf("%s motors\n", strUnableToAllocate);
goto failed;
}
AP_Param::load_object_from_eeprom(motors, motors_var_info);
// create the attitude view used by the VTOL code
ahrs_view = ahrs.create_view(rotation, ahrs_trim_pitch);
if (ahrs_view == nullptr) {
goto failed;
}
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors, loop_delta_t);
if (!attitude_control) {
hal.console->printf("%s attitude_control\n", strUnableToAllocate);
goto failed;
}
AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (!pos_control) {
hal.console->printf("%s pos_control\n", strUnableToAllocate);
goto failed;
}
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
if (!wp_nav) {
hal.console->printf("%s wp_nav\n", strUnableToAllocate);
goto failed;
}
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
if (!loiter_nav) {
hal.console->printf("%s loiter_nav\n", strUnableToAllocate);
goto failed;
}
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
motors->init((AP_Motors::motor_frame_class)frame_class.get(), (AP_Motors::motor_frame_type)frame_type.get());
motors->set_throttle_range(thr_min_pwm, thr_max_pwm);
motors->set_update_rate(rc_speed);
motors->set_interlock(true);
pos_control->set_dt(loop_delta_t);
attitude_control->parameter_sanity_check();
// setup the trim of any motors used by AP_Motors so px4io
// failsafe will disable motors
for (uint8_t i=0; i<8; i++) {
SRV_Channel::Aux_servo_function_t func = SRV_Channels::get_motor_function(i);
SRV_Channels::set_failsafe_pwm(func, thr_min_pwm);
}
#if HAVE_PX4_MIXER
// redo failsafe mixing on px4
plane.setup_failsafe_mixing();
#endif
transition_state = TRANSITION_DONE;
if (tilt.tilt_mask != 0 && tilt.tilt_type == TILT_TYPE_VECTORED_YAW) {
// setup tilt servos for vectored yaw
SRV_Channels::set_range(SRV_Channel::k_tiltMotorLeft, 1000);
SRV_Channels::set_range(SRV_Channel::k_tiltMotorRight, 1000);
}
setup_defaults();
AP_Param::convert_old_parameters(&q_conversion_table[0], ARRAY_SIZE(q_conversion_table));
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised");
initialised = true;
return true;
failed:
initialised = false;
enable.set(0);
gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane setup failed");
return false;
}
/*
setup default parameters from defaults_table
*/
void QuadPlane::setup_defaults(void)
{
AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
enum AP_Motors::motor_frame_class motor_class;
motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
if (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
}
// reset ESC calibration
if (esc_calibration != 0) {
esc_calibration.set_and_save(0);
}
}
// run ESC calibration
void QuadPlane::run_esc_calibration(void)
{
if (!motors->armed()) {
motors->set_throttle_passthrough_for_esc_calibration(0);
AP_Notify::flags.esc_calibration = false;
return;
}
if (!AP_Notify::flags.esc_calibration) {
gcs().send_text(MAV_SEVERITY_INFO, "Starting ESC calibration");
}
AP_Notify::flags.esc_calibration = true;
switch (esc_calibration) {
case 1:
// throttle based calibration
motors->set_throttle_passthrough_for_esc_calibration(plane.get_throttle_input() * 0.01f);
break;
case 2:
// full range calibration
motors->set_throttle_passthrough_for_esc_calibration(1);
break;
}
}
// init quadplane stabilize mode
void QuadPlane::init_stabilize(void)
{
throttle_wait = false;
}
/*
ask the multicopter attitude control to match the roll and pitch rates being demanded by the
fixed wing controller if not in a pure VTOL mode
*/
void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
{
check_attitude_relax();
if (in_vtol_mode() || is_tailsitter()) {
// use euler angle attitude control
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
} else {
// use the fixed wing desired rates
float roll_rate = plane.rollController.get_pid_info().desired;
float pitch_rate = plane.pitchController.get_pid_info().desired;
attitude_control->input_rate_bf_roll_pitch_yaw_2(roll_rate*100.0f, pitch_rate*100.0f, yaw_rate_cds);
}
}
// hold in stabilize with given throttle
void QuadPlane::hold_stabilize(float throttle_in)
{
// call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
if (throttle_in <= 0) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
if (is_tailsitter()) {
// always stabilize with tailsitters so we can do belly takeoffs
attitude_control->set_throttle_out(0, true, 0);
} else {
attitude_control->set_throttle_out_unstabilized(0, true, 0);
}
} else {
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
attitude_control->set_throttle_out(throttle_in, true, 0);
}
}
// quadplane stabilize mode
void QuadPlane::control_stabilize(void)
{
// special check for ESC calibration in QSTABILIZE
if (esc_calibration != 0) {
run_esc_calibration();
return;
}
// normal QSTABILIZE mode
float pilot_throttle_scaled = plane.get_throttle_input() / 100.0f;
hold_stabilize(pilot_throttle_scaled);
}
// run the multicopter Z controller
void QuadPlane::run_z_controller(void)
{
const uint32_t now = AP_HAL::millis();
if (now - last_pidz_active_ms > 2000) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
gcs().send_text(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)inertial_nav.get_altitude() / 100);
set_alt_target_current();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialize vertical speeds and leash lengths
pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_max_accel_z(pilot_accel_z);
// it has been two seconds since we last ran the Z
// controller. We need to assume the integrator may be way off
// the base throttle we start at is the current throttle we are using
float base_throttle = constrain_float(motors->get_throttle() - motors->get_throttle_hover(), -1, 1) * 1000;
pos_control->get_accel_z_pid().set_integrator(base_throttle);
last_pidz_init_ms = now;
}
last_pidz_active_ms = now;
pos_control->update_z_controller();
}
/*
check if we should relax the attitude controllers
We relax them whenever we will be using them after a period of
inactivity
*/
void QuadPlane::check_attitude_relax(void)
{
uint32_t now = AP_HAL::millis();
if (now - last_att_control_ms > 100) {
attitude_control->relax_attitude_controllers();
}
last_att_control_ms = now;
}
// init quadplane hover mode
void QuadPlane::init_hover(void)
{
// initialize vertical speeds and leash lengths
pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_max_accel_z(pilot_accel_z);
// initialise position and desired velocity
set_alt_target_current();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
init_throttle_wait();
}
/*
check for an EKF yaw reset
*/
void QuadPlane::check_yaw_reset(void)
{
float yaw_angle_change_rad = 0.0f;
uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
if (new_ekfYawReset_ms != ekfYawReset_ms) {
attitude_control->inertial_frame_reset();
ekfYawReset_ms = new_ekfYawReset_ms;
gcs().send_text(MAV_SEVERITY_INFO, "EKF yaw reset %.2f", (double)degrees(yaw_angle_change_rad));
}
}
/*
hold hover with target climb rate
*/
void QuadPlane::hold_hover(float target_climb_rate)
{
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speeds and acceleration
pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_max_accel_z(pilot_accel_z);
// call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
// call position controller
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, plane.G_Dt, false);
run_z_controller();
}
/*
control QHOVER mode
*/
void QuadPlane::control_hover(void)
{
if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0);
} else {
hold_hover(get_pilot_desired_climb_rate_cms());
}
}
void QuadPlane::init_loiter(void)
{
// initialise loiter
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
// initialize vertical speed and acceleration
pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_max_accel_z(pilot_accel_z);
// initialise position and desired velocity
set_alt_target_current();
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
init_throttle_wait();
// remember initial pitch
loiter_initial_pitch_cd = MAX(plane.ahrs.pitch_sensor, 0);
// prevent re-init of target position
last_loiter_ms = AP_HAL::millis();
}
void QuadPlane::init_land(void)
{
init_loiter();
throttle_wait = false;
poscontrol.state = QPOS_LAND_DESCEND;
landing_detect.lower_limit_start_ms = 0;
}
// helper for is_flying()
bool QuadPlane::is_flying(void)
{
if (!available()) {
return false;
}
if (plane.control_mode == GUIDED && guided_takeoff) {
return true;
}
if (motors->get_throttle() > 0.01f && !motors->limit.throttle_lower) {
return true;
}
if (in_tailsitter_vtol_transition()) {
return true;
}
return false;
}
// crude landing detector to prevent tipover
bool QuadPlane::should_relax(void)
{
const uint32_t tnow = millis();
bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();
if (motors->get_throttle() < 0.01f) {
motor_at_lower_limit = true;
}
if (!motor_at_lower_limit) {
landing_detect.lower_limit_start_ms = 0;
return false;
} else if (landing_detect.lower_limit_start_ms == 0) {
landing_detect.lower_limit_start_ms = tnow;
}
return (tnow - landing_detect.lower_limit_start_ms) > 1000;
}
// see if we are flying in vtol
bool QuadPlane::is_flying_vtol(void) const
{
if (!available()) {
return false;
}
if (motors->get_throttle() > 0.01f) {
// if we are demanding more than 1% throttle then don't consider aircraft landed
return true;
}
if (plane.control_mode == GUIDED && guided_takeoff) {
return true;
}
if (plane.control_mode == QSTABILIZE || plane.control_mode == QHOVER || plane.control_mode == QLOITER || plane.control_mode == QAUTOTUNE) {
// in manual flight modes only consider aircraft landed when pilot demanded throttle is zero
return plane.get_throttle_input() > 0;
}
if (in_vtol_mode() && millis() - landing_detect.lower_limit_start_ms > 5000) {
// use landing detector
return true;
}
return false;
}
/*
smooth out descent rate for landing to prevent a jerk as we get to
land_final_alt.
*/
float QuadPlane::landing_descent_rate_cms(float height_above_ground) const
{
float ret = linear_interpolate(land_speed_cms, wp_nav->get_speed_down(),
height_above_ground,
land_final_alt, land_final_alt+6);
return ret;
}
// run quadplane loiter controller
void QuadPlane::control_loiter()
{
if (throttle_wait) {
motors->set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
attitude_control->set_throttle_out_unstabilized(0, true, 0);
pos_control->relax_alt_hold_controllers(0);
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
return;
}
check_attitude_relax();
if (should_relax()) {
loiter_nav->soften_for_landing();
}
const uint32_t now = AP_HAL::millis();
if (now - last_loiter_ms > 500) {
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
}
last_loiter_ms = now;
// motors use full range
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);