TiltrotorEffectiveness: limit thrust axis tilt to z effectiveness scaling #21990
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RomanBapst
previously approved these changes
Aug 25, 2023
…ling During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max. Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid a thrust spike when the transition is initiated (as then the tilt is fully forward). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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RomanBapst
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Aug 25, 2023
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royratcliffe
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Sep 6, 2023
…ling (PX4#21990) During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max. Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid a thrust spike when the transition is initiated (as then the tilt is fully forward). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
antbre
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Sep 14, 2023
…ling (PX4#21990) During transition to FF, only allow update thrust axis up to 45° as with a high tilt angle the effectiveness of the thrust axis in z is apporaching 0, and by that is increasing the motor output to max. Transition to HF: disable thrust axis tilting, and assume motors are vertical. This is to avoid a thrust spike when the transition is initiated (as then the tilt is fully forward). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Solved Problem
Two related issues and fixes:
Before this PR (notice the thrust spikes when the vehicle is still in transition phases with the collective tilt being almost at horizontal):
After this PR (note how the thrust spikes during front transition are reduced, and completely gone during the backtransition):
Changelog Entry
For release notes:
Test coverage
Flight tested.