Copter: add weathervaneing #21609

IamPete1 · 2022-09-01T14:17:24Z

This adds quadplane style weathervaning to copter. It is only really valid when hovering, can significantly reduce power required for none symmetrical "aerodynamic" vehicles. Should also be good for helis.

Replaces #17333

Note that there is both a global enable parameter and a per mode for auto and guided. So to get weathervaning in auto one would set WVANE_ENABLE 1 and AUTO_OPTIONS 128.

Tested in SITL manually and with auto test. Actual weathervaneing method is well tested via quadplane, this just adds the calls to use it.

IamPete1

Rather than per mode enable with AUTO_OPTIONS and GUIDED_OPTIONS we could use the WVANE_ENABLE to enable globally and then if we need it in the future we could add per mode disable.

IamPete1 · 2022-09-01T16:54:23Z

ArduCopter/config.h

+//////////////////////////////////////////////////////////////////////////////
+// Weathervane - allow vehicle to yaw into wind
+#ifndef WEATHERVANE_ENABLED
+# define WEATHERVANE_ENABLED !HAL_MINIMIZE_FEATURES


I'm not sure HAL_MINIMIZE_FEATURES is right threshold for this, although I'm not really sure what would be better, we could do BOARD_FLASH_SIZE > 1024.

khancyr · 2022-09-02T12:59:47Z

isn't this live tested every days?

ArduCopter/Parameters.cpp

peterbarker · 2022-09-06T00:21:19Z

ArduCopter/RC_Channel.cpp

@@ -121,6 +121,7 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxS
    case AUX_FUNC::AIRMODE:
    case AUX_FUNC::FORCEFLYING:
    case AUX_FUNC::CUSTOM_CONTROLLER:
+    case AUX_FUNC::WEATHER_VANE_ENABLE:


This should be in the parent RC_Channel class by now

peterbarker · 2022-09-06T00:22:08Z

ArduCopter/RC_Channel.cpp

@@ -618,6 +619,22 @@ bool RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwi
            break;
 #endif

+#if WEATHERVANE_ENABLED == ENABLED


This should be in parent class, gated on AP_WEATEHRVANE_ENABLED

The problem is that is is currently always enabled on quadplane. So we would endup having to do dummy methods on copter. Since this only ever going to be copter and plane I don't think its worth it, its not like some features that we want on all vehicles.

Not really all that fussed. But when we get subs or boats weather-vaning in current I am going to remind you of this comment....

Tools/autotest/arducopter.py

rmackay9 · 2022-09-06T00:32:42Z

Update from the dev call:

@lthall says he'd prefer to have the auto_yaw controller enhanced so we don't need to add the weatervane.update() calls in each mode.
@IamPete1 agreed to give a restructure a try although it will be a bigger patch and cost more flash.

IamPete1 · 2022-11-01T17:01:09Z

Re-based ontop of yaw re-work.

rmackay9 · 2022-11-28T23:27:08Z

This looks pretty good to me. The only thing I'm not a huge fan of is how the weathervane autoyaw mode changes the flight code's autoyaw mode. This splits the logic for how the autoyaw mode changes into two places which makes it more complex to understand... and thus more prone to errors.

davidbuzz · 2022-11-28T23:27:43Z

randy mentioned on dev call that hes ok with this post-rebase, but pete wants to do a bit more testing before it goes in

ArduCopter/mode.h

IamPete1 · 2022-12-11T13:01:23Z

Rebased and re-tested.

Stale

bnsgeyer · 2022-12-12T23:10:52Z

@IamPete1 were you able to test this on heli?

rmackay9

Approved assuming that the TradHeli testing is successful.

bnsgeyer · 2022-12-13T03:08:10Z

@IamPete1 Can you test this or do you need my help

IamPete1 · 2022-12-13T22:02:02Z

Rebased

@rmackay9 @bnsgeyer A quick heli demo, all seems to work as expected.

https://youtu.be/ycrhHy-ghKg

rmackay9 · 2022-12-13T23:11:29Z

@IamPete1, nice video thanks.

@bnsgeyer, good enough for merging?

ArduCopter/autoyaw.cpp

bnsgeyer · 2022-12-14T12:01:54Z

@IamPete1 did that fix the issue? Just wondering if you had a chance to test it.

IamPete1 · 2022-12-14T12:21:26Z

@bnsgeyer Yes, fixed it now includes the roll trim as you suggested (642bc83). I have not re-tested, but I think that is a transparent change, clearly 0 on multirotor and constrained to +-10 on heli, so I don't foresee any issues.

bnsgeyer · 2022-12-14T13:13:20Z

@IamPete1 i was more interested that you verified through testing that my suggested change fixed the problem you saw with heli. I am pretty confident it will but always good to verify there wasn’t some sign error or something. Thanks!

IamPete1 · 2022-12-14T20:28:45Z

@IamPete1 i was more interested that you verified through testing that my suggested change fixed the problem you saw with heli. I am pretty confident it will but always good to verify there wasn’t some sign error or something. Thanks!

Just had another go in realflight, it is better with the correct roll trim set, you can keep a smaller deadzone.

bnsgeyer

Thanks for the testing

bnsgeyer · 2022-12-14T21:08:29Z

Merged. Thanks!

IamPete1 added the Copter label Sep 1, 2022

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IamPete1 force-pushed the Copter_WeatherVane branch from 2cb5b7f to 312028d Compare November 1, 2022 17:00

IamPete1 force-pushed the Copter_WeatherVane branch 3 times, most recently from 7a62bbe to 633c663 Compare November 2, 2022 00:40

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IamPete1 force-pushed the Copter_WeatherVane branch from 633c663 to 5496e13 Compare December 11, 2022 12:56

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MattKear and others added 3 commits December 13, 2022 21:11

Copter: add yaw weathevaneing mode

f87f503

Autotest: Add copter weathervane tests

c4eee20

Copter: RC_Channel: add weathervane enable/disable switch

4929fcf

IamPete1 force-pushed the Copter_WeatherVane branch from 5496e13 to 4929fcf Compare December 13, 2022 21:12

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Copter: autoyaw: weathervane: include roll trim for helis

642bc83

bnsgeyer self-requested a review December 14, 2022 21:05

bnsgeyer approved these changes Dec 14, 2022

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bnsgeyer merged commit d9dedf3 into ArduPilot:master Dec 14, 2022

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Copter: add weathervaneing #21609

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Copter: add weathervaneing #21609

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