Tiltrotor: move spin up tilt to control allocation #21991
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
bkueng
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Aug 23, 2023
src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
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…to COM_SPOOLUP_TIME Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
bkueng
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Aug 24, 2023
royratcliffe
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Sep 6, 2023
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME - remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module - now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME - leave tilts at disarmed value during spoolup Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
antbre
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Sep 14, 2023
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME - remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module - now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME - leave tilts at disarmed value during spoolup Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
ryrobotics
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Jan 4, 2024
EffectivenessTiltrotor: link time when to tilt motors to MC position to COM_SPOOLUP_TIME - remove VT_TILT_SPINUP and special spin up tilt handling form the VTOL module - now handle the spoolup in the allocation, directly linked to COM_SPOOLUP_TIME - leave tilts at disarmed value during spoolup Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Solved Problem
This removes the functionality around specifying a spin up tilt thorough the param VT_TILT_SPINUP in the VTOL module , and instead adds the functionality in slightly altered fashion in the control allocation for tiltrotor VTOLs. How it works now:
Changelog Entry
For release notes:
Alternatives
It would be nice if the specified slew rate limiting on the tilts is also active during the spin up. To achieve that we could again use a customized tilt for spin up (re-use VT_TILT_SPINUP in the control allocation) and set the tilts to this value until 1s after arming. Problem with that approach is that then the allocation will compensate for the loss in vertical thrust effectiveness due to the motor tilt, with results in the motor throttle going above the specified minimum when the motors are tilted for spin up, only to then go down again when idling on the ground with the tilts in MC configuration.
Test coverage
flight tested.