VTOL attitude control during transitions #11856
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…ttitude controller - generally the mc attitude controller has much smaller attitude time constants than the fixed wing attitude controller. This resulted in strong oscillations during transitions when the fixed wing rate controller was fed with rate setpoints generated by the mc attitude controller. This was even the case when the mc rate controller was not running at all. Signed-off-by: Roman <bapstroman@gmail.com>
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This was tested first in SITL (manual, stabilized, position, mission) |
dagar
reviewed
Apr 16, 2019
| @@ -617,7 +618,8 @@ void FixedwingAttitudeControl::run() | |||
| _att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled; | |||
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| /* lock integrator until control is started */ | |||
| bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing); | |||
| bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled); | |||
| lock_integrator &= _vehicle_status.is_rotary_wing; | |||
There was a problem hiding this comment.
This is the binary AND operator, not the boolean operator &&.
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Looks right, I just want to be careful with the way we're weaving these controllers together. Splitting out the rate controllers What about tailsitters? |
dagar
added
Admin: Enhancement (improvement) 💡
Hybrid VTOL 🛩️🚁
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Continued in #11898 |
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In the upper figure you can see how a standard vtol just entered the backtransition and begins to oscillate in roll. Notice that the quad motors are still not active when the oscillations begin. Given that no oscillations were present during fixed wing flight and the airspeed scaling in the fixed wing rate controller was still active the cause of the oscillations is probably the fact that the rate setpoints were generated by the mc attitude controller which has a time constant that is about 3 times larger than the one of the fixed wing attitude controller.
This PR changes the logic such that during transitions the fixed wing attitude controller generates the rate setpoint.