VTOL QuadChute Maximum roll and pitch angles #6665

sanderux · 2017-02-25T00:02:45Z

Addresses #6661

This triggers quadchute on maximum roll and pitch angles to prevent stalling or actuation problems like reversed ailerons/elevons

sanderux · 2017-02-25T00:51:20Z

Ref #6660

dagar · 2017-02-25T02:28:04Z

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -562,6 +564,14 @@ VtolAttitudeControl::parameters_update()
 	param_get(_params_handles.fw_min_alt, &v);
 	_params.fw_min_alt = v;

+	/* maximum pitch angle (QuadChute) */
+	param_get(_params_handles.fw_qc_max_pitch, &l);


copy directly to &_params.fw_qc_max_pitch

Reverted, doesn't work

Type mismatch

The parameter is an int, but you the param_get (mem)copied it into a float.

dagar · 2017-02-25T02:29:37Z

src/modules/vtol_att_control/vtol_type.cpp

+	if (_params->fw_qc_max_roll > 0
+		&& _armed->armed && !_land_detected->landed) {
+
+		if (math::degrees(euler.phi()) < -_params->fw_qc_max_roll


What do you mean?

dagar · 2017-02-25T02:30:22Z

src/modules/vtol_att_control/vtol_att_control_params.c

+ * @max 180
+ * @group VTOL Attitude Control
+ */
+PARAM_DEFINE_INT32(VT_FW_QC_P, 55);


Disable by default

dagar · 2017-02-25T02:41:13Z

Needs a few small changes. What about tailsitters? Is the attitude always relative to the MC frame and then rotated for FW? I've never used one.

Thoughts for a more general solution longer term.

expose controller status like fw_pos_ctrl_status (https://github.com/PX4/Firmware/blob/master/msg/fw_pos_ctrl_status.msg) and either explicitly check relevant error and controller flag (eg alt error and flag_control_altitude_enabled) or have the controller expose something like a health flag
likewise for attitude controllers. Turn mc_att_ctrl_status into a more general attitude controller status message for logging integrators and controller health
shouldn't trigger within already defined controller values (max roll, etc)
handle failsafe triggering in commander or another module and make the trigger action selectable
actions could be RTL, LAND, etc

sanderux · 2017-02-25T12:56:28Z

Needs a few small changes. What about tailsitters? Is the attitude always relative to the MC frame and then rotated for FW? I've never used one.

@Tumbili can you answer this? i'm not sure
@LorenzMeier do we still have a functional tailsitter in SITL?

AndreasAntener · 2017-02-25T13:43:00Z

Regarding the parameters and @dagar 's comment: instead of adding separate angle parameters I would instead only add a margin parameter (in degrees) and add that on top of the largest angles already set for FW (take the ones for manual).

Re tailsitter: there is rotation code used in FW pos control to rotate the attitude (search for tailsitter) which could be copied. Make sure this check gets excluded during tailsitter transitions. Or leave it for tailsitters at the moment.

sanderux · 2017-02-25T14:22:54Z

@AndreasAntener is that FW_P_LIM_MIN FW_P_LIM_MAX and FW_R_LIM ?
And would that be one param defining both roll and pitch excess or separately?
And if separately, should it distinguish between pitch up and down?

dagar · 2017-02-25T16:52:27Z

If the check was in the FW attitude controller we'd get the rotation for free.

sanderux · 2017-02-25T23:14:32Z

Rebased to include tecs integrator resets
I will give it a flight test and then i think it's good to go

sanderux · 2017-03-01T23:35:53Z

Test flown, no regression.
http://logs.uaventure.com/view/t293nDhydn76rU94mnoZRL (high wind)

sanderux · 2017-03-01T23:37:26Z

@dagar this seems ready to merge, all your comments are addressed. can you approve?

dagar · 2017-03-02T00:42:43Z

Any reason why QC min alt is a float, but these new QC params are ints?

dagar · 2017-03-02T00:57:38Z

Sidenote - log looks good. I think a quick improvement would be adding FW_PSP_OFF to the transitions. Front transition ramp up to PSP_OFF, and back transition could just maintain to better hold altitude.

sanderux · 2017-03-02T09:25:00Z

@dagar

Any reason why QC min alt is a float, but these new QC params are ints?

Consistency, all altitude params are float (perhaps smaller vehicles use half meter), all degree params are int.

Sidenote - log looks good. I think a quick improvement would be adding FW_PSP_OFF to the transitions. Front transition ramp up to PSP_OFF, and back transition could just maintain to better hold altitude.

Funny, that was exactly what i was thinking when i looked at the altitude. indeed the FW_PSP_OFF should be taken into account. perhaps mostly during back transition as in the first stage of the fron transition it might pull the vehicle backwards.

dagar · 2017-03-02T15:33:32Z

This looks good for now, and would have likely saved at least a couple airframes on my end. Let's just try to keep in mind a more general solution closer to the controllers in the future.

dagar · 2017-03-02T16:49:22Z

@sanderux for FW_PSP_OFF #6709

sanderux added Admin: Enhancement (improvement) 💡 Hybrid VTOL 🛩️🚁 Multirotor + Fixedwing! labels Feb 25, 2017

sanderux requested a review from dagar February 25, 2017 00:02

dagar reviewed Feb 25, 2017

View reviewed changes

dagar requested changes Feb 25, 2017

View reviewed changes

sanderux added 6 commits February 26, 2017 00:11

VTOL QuadChute Maximum roll and pitch angles

9a4a05b

Copy params direct

0f5e0f0

code style

0e62c2f

Disable quadchute angles by default

b2daaf4

Use intermediat int for param handling

85cc7c2

Use fabs radians check

68a7fde

sanderux force-pushed the vtol_quadchute_max_angle branch from 452f7c3 to 68a7fde Compare February 25, 2017 23:12

sanderux added the testflights_vtol label Feb 25, 2017

sanderux added 2 commits February 27, 2017 09:18

Normalize quadchute conditions

97bc457

Commenting and message

0b19577

sanderux removed the testflights_vtol label Mar 1, 2017

sanderux assigned LorenzMeier Mar 1, 2017

dagar approved these changes Mar 2, 2017

View reviewed changes

dagar merged commit 9ef87f1 into master Mar 2, 2017

dagar deleted the vtol_quadchute_max_angle branch March 2, 2017 15:34

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

VTOL QuadChute Maximum roll and pitch angles #6665

VTOL QuadChute Maximum roll and pitch angles #6665

sanderux commented Feb 25, 2017

sanderux commented Feb 25, 2017

dagar Feb 25, 2017

sanderux Feb 25, 2017

sanderux Feb 25, 2017

dagar Feb 25, 2017

dagar Feb 26, 2017 •

edited

dagar Feb 25, 2017

sanderux Feb 25, 2017

dagar Feb 25, 2017

sanderux Feb 25, 2017

dagar commented Feb 25, 2017 •

edited

sanderux commented Feb 25, 2017

AndreasAntener commented Feb 25, 2017

sanderux commented Feb 25, 2017 •

edited

dagar commented Feb 25, 2017

sanderux commented Feb 25, 2017 •

edited

sanderux commented Mar 1, 2017

sanderux commented Mar 1, 2017

dagar commented Mar 2, 2017

dagar commented Mar 2, 2017 •

edited

sanderux commented Mar 2, 2017

dagar commented Mar 2, 2017

dagar commented Mar 2, 2017

VTOL QuadChute Maximum roll and pitch angles #6665

VTOL QuadChute Maximum roll and pitch angles #6665

Conversation

sanderux commented Feb 25, 2017

sanderux commented Feb 25, 2017

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

dagar Feb 26, 2017 • edited

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

dagar commented Feb 25, 2017 • edited

sanderux commented Feb 25, 2017

AndreasAntener commented Feb 25, 2017

sanderux commented Feb 25, 2017 • edited

dagar commented Feb 25, 2017

sanderux commented Feb 25, 2017 • edited

sanderux commented Mar 1, 2017

sanderux commented Mar 1, 2017

dagar commented Mar 2, 2017

dagar commented Mar 2, 2017 • edited

sanderux commented Mar 2, 2017

dagar commented Mar 2, 2017

dagar commented Mar 2, 2017

dagar Feb 26, 2017 •

edited

dagar commented Feb 25, 2017 •

edited

sanderux commented Feb 25, 2017 •

edited

sanderux commented Feb 25, 2017 •

edited

dagar commented Mar 2, 2017 •

edited