Scripting: added VTOL-expo.lua for estimating MOT_THST_EXPO #23701

tridge · 2023-05-06T11:45:52Z

This allows for automatic estimation of MOT_THST_EXPO
Only tested in SITL so far. Expo estimation works well for Callisto model
update: now supports quadplanes as well

libraries/AP_Scripting/applets/VTOL-expo.lua

IamPete1 · 2023-05-06T16:41:33Z

ArduCopter/Copter.cpp

+    }
+
+    Quaternion q {};
+    mode_guided.set_angle(q, Vector3f{}, thrust, true);


I would prefer to add a binding for this full method so it can be used for other things as well.

the climb_rate_cms_or_thrust is pretty horrible - might be worth trying to come up with a better API

We can pass const argument in bindings, so we could bind with the true hardcoded and rename to something more useful without having to change copter.

we could, but I also want bindings that make sense for quadplane. I think we need to think about what guided bindings we want and design a set that are really usable, not just match the current C++ ones for copter, as they are just so weird

related to this is the GUID_TIMEOUT hackery, we need a way to set the timeout from scripts properly

In general a set_target_attitude_and_thrust() would be more generally useful.

libraries/AP_Scripting/applets/VTOL-expo.lua

rmackay9 · 2023-05-10T06:37:40Z

I've tested this and it's got a small issue with yaw control. The vehicle attempts to face North as it returns to the target location.

IamPete1 · 2023-05-11T02:37:16Z

libraries/SITL/SIM_Motor.cpp

+    if (sitl && is_positive(sitl->vtol_motor_tc.get())) {
+        const float alpha = calc_lowpass_alpha_dt(1.0 / sitl->loop_rate_hz, 1.0 / sitl->vtol_motor_tc.get());
+        filtered_command += (command - filtered_command) * alpha;
+        command = filtered_command;


We do already slew limit the command up on line 50. Maybe that could be setup to have the desired effect? In any case I think this filtering should be done in the same place as that.

Also we do have the motor test example which allows "virtual" thrust testing, I was planning on using that to match up to real thrust data eventually.

tridge · 2023-05-11T12:00:24Z

tested on 56kg hybrid hexa from Foxtech:
https://www.youtube.com/watch?v=EHpUuHWWxSU
worked nicely:

2023-05-11 18:27:10.081 Expo: starting tune with expo=0.75
2023-05-11 18:27:17.918 Expo: 0.72 accel=(-2.16,2.47) err=-0.133
2023-05-11 18:27:27.570 Expo: 0.69 accel=(-2.26,2.46) err=-0.095
2023-05-11 18:27:37.850 Expo: 0.67 accel=(-2.13,2.51) err=-0.128
2023-05-11 18:27:47.865 Expo: 0.68 accel=(-2.35,2.64) err=0.040
2023-05-11 18:27:57.716 Expo: 0.68 accel=(-2.25,2.64) err=-0.003
2023-05-11 18:27:57.716 Expo: finished tune 0.68
2023-05-11 18:28:11.882 Expo: saved at 0.68

this allows simulation of the response time of the VTOL motors to commands. It appears that real vehicles have response times of the order of 0.4s

this estimates MOT_THST_EXPO automatically in copter GUIDED mode

when Q_GUIDED_MODE=2 GUIDED mode will start in VTOL if it was in VTOL when GUIDED is entered. This makes for a much safetr GUIDED mode, so users don't get fixed wing flight when they don't expect it

get acceleration with no vertical drag

rmackay9

well, I think it's not clear what binding will be best so first one wins.

IamPete1 · 2023-05-17T11:15:12Z

ArduPlane/quadplane.cpp

@@ -199,8 +199,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {

    // @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
+    // @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 hhold position while hovering at the destination. If set to 2 then the vehicle will continue hovering if GUIDED mode is entered from a VTOL mode and is hovering. For QRTL and AUTO mode landings it will continue hovering if in the VTOL control part of the landing sequence.


Suggested change

// @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 hhold position while hovering at the destination. If set to 2 then the vehicle will continue hovering if GUIDED mode is entered from a VTOL mode and is hovering. For QRTL and AUTO mode landings it will continue hovering if in the VTOL control part of the landing sequence.

// @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 hold position while hovering at the destination. If set to 2 then the vehicle will continue hovering if GUIDED mode is entered from a VTOL mode and is hovering. For QRTL and AUTO mode landings it will continue hovering if in the VTOL control part of the landing sequence.

IamPete1 · 2023-05-17T11:15:53Z

ArduPlane/quadplane.cpp

-    // @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
+    // @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 hhold position while hovering at the destination. If set to 2 then the vehicle will continue hovering if GUIDED mode is entered from a VTOL mode and is hovering. For QRTL and AUTO mode landings it will continue hovering if in the VTOL control part of the landing sequence.
+    // @Values: 0:Disabled,1:Enabled,2:VTOLIfInVTOL


Maybe "Continue in VTOL"?

IamPete1 · 2023-05-17T11:30:49Z

ArduPlane/quadplane.cpp

@@ -1005,6 +1005,20 @@ void QuadPlane::run_z_controller(void)
        last_pidz_init_ms = now;
    }
    last_pidz_active_ms = now;
+
+#if AP_SCRIPTING_ENABLED
+    if (thrust_override.start_ms != 0) {


If this was above the "last_pidz_active_ms" reset check then you could rely on it to do the reset.

In general I'm not a fan of having this here. The method is called run_z_controller now not only does it not run the Z controller (which we were doing sometimes anyway) it actually runs a different controller. I would prefer to see this in mode_guided.cpp where instead of calling this run_z_controller function it does the throttle override.

IamPete1

SITL filter functionality is in the wrong spot (or the existing slew limit is)

I would prefer a new throttle with attitude guided command for more general usefulness.

I would also prefer the new QP functionality to be contained within guided mode.

IamPete1

SITL filter functionality is in the wrong spot (or the existing slew limit is)

I would prefer a new throttle with attitude guided command for more general usefulness.

I would also prefer the new QP functionality to be contained within guided mode.

tridge added Copter WIP Scripting NeedsTesting labels May 6, 2023

IamPete1 reviewed May 6, 2023

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MattKear reviewed May 6, 2023

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libraries/AP_Scripting/applets/VTOL-expo.lua Outdated Show resolved Hide resolved

tridge force-pushed the pr-expo-estimator branch 5 times, most recently from bfcd08b to 9b8ec3d Compare May 10, 2023 02:51

tridge force-pushed the pr-expo-estimator branch 2 times, most recently from 02bbc94 to fa54ba6 Compare May 11, 2023 01:29

IamPete1 reviewed May 11, 2023

View reviewed changes

tridge force-pushed the pr-expo-estimator branch 2 times, most recently from 3208697 to 2dd56cf Compare May 12, 2023 04:55

tridge added 9 commits May 13, 2023 18:18

AP_Vehicle: added set_thrust() method

489596c

Copter: added set_thrust() method

6a881d2

SITL: allow for change of VTOL expo while flying

1ec6b70

SITL: added SIM_VTOL_TC for motor thrust time constant

47bcba6

this allows simulation of the response time of the VTOL motors to commands. It appears that real vehicles have response times of the order of 0.4s

AP_Scripting: added set_thrust and get_accel_ef()

b86233e

AP_Scripting: added VTOL-expo.lua applet

e7b34a2

this estimates MOT_THST_EXPO automatically in copter GUIDED mode

Plane: added Q_GUIDED_MODE=2

e2a134b

when Q_GUIDED_MODE=2 GUIDED mode will start in VTOL if it was in VTOL when GUIDED is entered. This makes for a much safetr GUIDED mode, so users don't get fixed wing flight when they don't expect it

Plane: support set_thrust() API in GUIDED mode

99d8fc8

AP_Scripting: support quadplanes in VTOL-expo.lua script

bec2671

tridge force-pushed the pr-expo-estimator branch from 2dd56cf to 1977093 Compare May 13, 2023 23:04

AP_Scripting: auto-adjust notch filters for expo change

52c7927

tridge force-pushed the pr-expo-estimator branch from 1977093 to 52c7927 Compare May 14, 2023 00:28

AP_Scripting: look for zero crossing of Z velocity for expo

ce3c7e0

get acceleration with no vertical drag

tridge added DevCallEU and removed WIP labels May 17, 2023

rmackay9 approved these changes May 17, 2023

View reviewed changes

tridge removed the DevCallEU label May 17, 2023

IamPete1 reviewed May 17, 2023

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IamPete1 requested changes May 17, 2023

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Scripting: added VTOL-expo.lua for estimating MOT_THST_EXPO #23701

Scripting: added VTOL-expo.lua for estimating MOT_THST_EXPO #23701

tridge commented May 6, 2023 •

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Scripting: added VTOL-expo.lua for estimating MOT_THST_EXPO #23701

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Scripting: added VTOL-expo.lua for estimating MOT_THST_EXPO #23701

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tridge commented May 6, 2023 • edited Loading

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tridge commented May 6, 2023 •

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