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Plane: tailsitter: do not run throttle when disarmed in Q modes #16908

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merged 3 commits into from
Apr 26, 2021
Merged

Plane: tailsitter: do not run throttle when disarmed in Q modes #16908

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d3b6191
AP_Motors: tailsitter: slew outputs and output throttle directly
IamPete1 Mar 15, 2021
c012aa4
Plane: tailsitter: do not output throttle
IamPete1 Apr 7, 2021
809ed34
Plane: consistantly slew all three throttles
IamPete1 Apr 7, 2021
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14 changes: 7 additions & 7 deletions ArduPlane/servos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,11 @@
*****************************************/
void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
{
if (!(control_mode->does_auto_throttle() || quadplane.in_assisted_flight() || quadplane.in_vtol_mode())) {
// only do throttle slew limiting in modes where throttle control is automatic
return;
}

uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode == &mode_auto) {
if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
Expand Down Expand Up @@ -836,13 +841,8 @@ void Plane::set_servos(void)
// set airbrake outputs
airbrake_update();

if (control_mode->does_auto_throttle() ||
quadplane.in_assisted_flight() ||
quadplane.in_vtol_mode()) {
/* only do throttle slew limiting in modes where throttle
* control is automatic */
throttle_slew_limit(SRV_Channel::k_throttle);
}
// slew rate limit throttle
throttle_slew_limit(SRV_Channel::k_throttle);

if (!arming.is_armed()) {
//Some ESCs get noisy (beep error msgs) if PWM == 0.
Expand Down
3 changes: 0 additions & 3 deletions ArduPlane/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,11 +169,8 @@ void QuadPlane::tailsitter_output(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);

if (hal.util->get_soft_armed()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, motors->thrust_to_actuator(motors->get_throttle()) * 100);
// scale surfaces for throttle
tailsitter_speed_scaling();
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, motors->get_throttle() * 100);
}

tilt_left = 0.0f;
Expand Down
21 changes: 14 additions & 7 deletions libraries/AP_Motors/AP_MotorsTailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,23 +86,30 @@ void AP_MotorsTailsitter::output_to_motors()

switch (_spool_state) {
case SpoolState::SHUT_DOWN:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, get_pwm_output_min());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, get_pwm_output_min());
_actuator[0] = 0.0f;
_actuator[1] = 0.0f;
_actuator[2] = 0.0f;
break;
case SpoolState::GROUND_IDLE:
set_actuator_with_slew(_actuator[0], actuator_spin_up_to_ground_idle());
set_actuator_with_slew(_actuator[1], actuator_spin_up_to_ground_idle());
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(actuator_spin_up_to_ground_idle()));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(actuator_spin_up_to_ground_idle()));
set_actuator_with_slew(_actuator[2], actuator_spin_up_to_ground_idle());
break;
case SpoolState::SPOOLING_UP:
case SpoolState::THROTTLE_UNLIMITED:
case SpoolState::SPOOLING_DOWN:
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(thrust_to_actuator(_thrust_left)));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(thrust_to_actuator(_thrust_right)));
set_actuator_with_slew(_actuator[0], thrust_to_actuator(_thrust_left));
set_actuator_with_slew(_actuator[1], thrust_to_actuator(_thrust_right));
set_actuator_with_slew(_actuator[2], thrust_to_actuator(_throttle));
break;
}

// Always output to tilt servos
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, output_to_pwm(_actuator[0]));
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, output_to_pwm(_actuator[1]));

// use set scaled to allow a different PWM range on plane forward throttle, throttle range is 0 to 100
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _actuator[2]*100);

SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, _tilt_left*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, _tilt_right*SERVO_OUTPUT_RANGE);

Expand Down