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Plane: fixed use of FF for surfaces in tailsitters #17145

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merged 3 commits into from
Apr 13, 2021
Merged

Plane: fixed use of FF for surfaces in tailsitters #17145

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b819248
AP_Motors: added accessors for ff output to motors
tridge Apr 12, 2021
cd599aa
Plane: added in FF component in tailsitters
tridge Apr 12, 2021
761d183
Plane: setup SMAX for Q modes
tridge Apr 12, 2021
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3 changes: 3 additions & 0 deletions ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -568,9 +568,12 @@ 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_FLTD", 10.0 },
{ "Q_A_RAT_RLL_SMAX", 50.0 },
{ "Q_A_RAT_PIT_P", 0.25 },
{ "Q_A_RAT_PIT_I", 0.25 },
{ "Q_A_RAT_PIT_FLTD", 10.0 },
{ "Q_A_RAT_PIT_SMAX", 50.0 },
{ "Q_A_RAT_YAW_SMAX", 50.0 },
{ "Q_M_SPOOL_TIME", 0.25 },
{ "Q_LOIT_ANG_MAX", 15.0 },
{ "Q_LOIT_ACC_MAX", 250.0 },
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6 changes: 3 additions & 3 deletions ArduPlane/tailsitter.cpp
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Expand Up @@ -164,9 +164,9 @@ void QuadPlane::tailsitter_output(void)
plane.rollController.reset_I();

// pull in copter control outputs
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw()+motors->get_yaw_ff())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch()+motors->get_pitch_ff())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll()+motors->get_roll_ff())*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);
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3 changes: 3 additions & 0 deletions libraries/AP_Motors/AP_Motors_Class.h
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Expand Up @@ -112,8 +112,11 @@ class AP_Motors {

// accessors for roll, pitch, yaw and throttle inputs to motors
float get_roll() const { return _roll_in; }
float get_roll_ff() const { return _roll_in_ff; }
float get_pitch() const { return _pitch_in; }
float get_pitch_ff() const { return _pitch_in_ff; }
float get_yaw() const { return _yaw_in; }
float get_yaw_ff() const { return _yaw_in_ff; }
float get_throttle_out() const { return _throttle_out; }
float get_throttle() const { return constrain_float(_throttle_filter.get(), 0.0f, 1.0f); }
float get_throttle_bidirectional() const { return constrain_float(2 * (_throttle_filter.get() - 0.5f), -1.0f, 1.0f); }
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