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Plane: tiltrotor: allow tilt wing as flap #19179

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Nov 8, 2021
Merged

Plane: tiltrotor: allow tilt wing as flap #19179

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38 changes: 30 additions & 8 deletions ArduPlane/tiltrotor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,15 @@ const AP_Param::GroupInfo Tiltrotor::var_info[] = {
// @User: Standard
AP_GROUPINFO("FIX_GAIN", 9, Tiltrotor, fixed_gain, 0),

// @Param: WING_FLAP
// @DisplayName: Tiltrotor tilt angle that will be used as flap
// @Description: For use on tilt wings, the wing will tilt up to this angle for flap, transistion will be complete when the wing reaches this angle from the forward fight position, 0 disables
// @Units: deg
// @Increment: 1
// @Range: 0 15
// @User: Standard
AP_GROUPINFO("WING_FLAP", 10, Tiltrotor, flap_angle_deg, 0),

AP_GROUPEND
};

Expand Down Expand Up @@ -128,15 +137,15 @@ void Tiltrotor::setup()
/*
calculate maximum tilt change as a proportion from 0 to 1 of tilt
*/
float Tiltrotor::tilt_max_change(bool up) const
float Tiltrotor::tilt_max_change(bool up, bool in_flap_range) const
{
float rate;
if (up || max_rate_down_dps <= 0) {
rate = max_rate_up_dps;
} else {
rate = max_rate_down_dps;
}
if (type != TILT_TYPE_BINARY && !up) {
if (type != TILT_TYPE_BINARY && !up && !in_flap_range) {
bool fast_tilt = false;
if (plane.control_mode == &plane.mode_manual) {
fast_tilt = true;
Expand All @@ -158,13 +167,26 @@ float Tiltrotor::tilt_max_change(bool up) const
*/
void Tiltrotor::slew(float newtilt)
{
float max_change = tilt_max_change(newtilt<current_tilt);
float max_change = tilt_max_change(newtilt<current_tilt, newtilt > get_fully_forward_tilt());
current_tilt = constrain_float(newtilt, current_tilt-max_change, current_tilt+max_change);

// translate to 0..1000 range and output
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, 1000 * current_tilt);
}

// return the current tilt value that represens forward flight
// tilt wings can sustain forward flight with some amount of wing tilt
float Tiltrotor::get_fully_forward_tilt() const
{
return 1.0 - (flap_angle_deg / 90.0);
}

// return the target tilt value for forward flight
float Tiltrotor::get_forward_flight_tilt() const
{
return 1.0 - ((flap_angle_deg / 90.0) * SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto) * 0.01);
}

/*
update motor tilt for continuous tilt servos
*/
Expand All @@ -179,12 +201,12 @@ void Tiltrotor::continuous_update(void)
if (!quadplane.in_vtol_mode() && (!hal.util->get_soft_armed() || !quadplane.assisted_flight)) {
// we are in pure fixed wing mode. Move the tiltable motors all the way forward and run them as
// a forward motor
slew(1);
slew(get_forward_flight_tilt());

max_change = tilt_max_change(false);

float new_throttle = constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)*0.01, 0, 1);
if (current_tilt < 1) {
if (current_tilt < get_fully_forward_tilt()) {
current_throttle = constrain_float(new_throttle,
current_throttle-max_change,
current_throttle+max_change);
Expand Down Expand Up @@ -259,14 +281,14 @@ void Tiltrotor::continuous_update(void)
transition->transition_state >= Tiltrotor_Transition::TRANSITION_TIMER) {
// we are transitioning to fixed wing - tilt the motors all
// the way forward
slew(1);
slew(get_forward_flight_tilt());
} else {
// until we have completed the transition we limit the tilt to
// Q_TILT_MAX. Anything above 50% throttle gets
// Q_TILT_MAX. Below 50% throttle we decrease linearly. This
// relies heavily on Q_VFWD_GAIN being set appropriately.
float settilt = constrain_float((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)-MAX(plane.aparm.throttle_min.get(),0)) / 50.0f, 0, 1);
slew(settilt * max_angle_deg / 90.0f);
slew(MIN(settilt * max_angle_deg / 90.0f, get_forward_flight_tilt()));
}
}

Expand Down Expand Up @@ -436,7 +458,7 @@ bool Tiltrotor::fully_fwd(void) const
if (!enabled() || (tilt_mask == 0)) {
return false;
}
return (current_tilt >= 1);
return (current_tilt >= get_fully_forward_tilt());
}

/*
Expand Down
5 changes: 4 additions & 1 deletion ArduPlane/tiltrotor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,9 @@ friend class Tiltrotor_Transition;
}

bool fully_fwd() const;
float tilt_max_change(bool up) const;
float tilt_max_change(bool up, bool in_flap_range = false) const;
float get_fully_forward_tilt() const;
float get_forward_flight_tilt() const;

// update yaw target for tiltrotor transition
void update_yaw_target();
Expand All @@ -66,6 +68,7 @@ friend class Tiltrotor_Transition;
AP_Float tilt_yaw_angle;
AP_Float fixed_angle;
AP_Float fixed_gain;
AP_Float flap_angle_deg;

float current_tilt;
float current_throttle;
Expand Down