FW/VTOL Call: December 20, 2022

sfuhrer · December 20, 2022, 4:29pm

December 20, 2022

Control allocation issues for fixed-wing
@sfuhrer opened draft PR for splitting out flaps/spoiler/landing_gear/landing_gear_wheel into dedicated module: Auxiliary flight control actuator handling rework by sfuhrer · Pull Request #20724 · PX4/PX4-Autopilot · GitHub. By now though not certain anymore if it really should be in a dedicated module, as most of the logic is still living in the controllers. Will thus open another PR with a 2nd approach (without dedicated module, less custom topics with similar functionality).

@dagar wonders if using vehicle commands for setting these configurations would be a good idea, as they are sent only once per mode (e.g. landing).

TECS rework:

github.com/PX4/PX4-Autopilot

Tecs cleanup

PX4:main ← PX4:tecs_cleanup

opened 06:46PM - 18 Oct 22 UTC

KonradRudin

+1301 -802

Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/…) to align on pull requests if necessary. You can then open draft pull requests to get early feedback. ## Describe problem solved by this pull request This PR is to rearrange the internals of the TECS library for readability and maintenance and corrections of bugs. ## Describe your solution The TECS library is decomposed into three subclasses. A filter class, filtering the airspeed and airspeed derivative, a reference model class for smoothening the altitude setpoint a generate a corresponding altitude rate and the controller responsible for tracking the altitude and altitude rate setpoint. ## Describe possible alternatives None, only refactoring work done. ## Test data / coverage Further testing needed. Testing was done by comparing the output of the rearranged TECS library with the old library as seen in commit [c049d9ae7ad86d9617e0cbe9b902f34b4ad2ee11](https://github.com/PX4/PX4-Autopilot/commit/c049d9ae7ad86d9617e0cbe9b902f34b4ad2ee11). Up to this point, both libraries have a similar behavior but not identical, due to small changes in the initialization (also altitude rate is used to initialize the reference model) and changes in the timing of the modules. Further bug fixes are applied in the commit afterwards. ## Additional context ![TECS drawio](https://user-images.githubusercontent.com/98741601/196684377-b46f9154-3ac6-40ad-80b4-cb640d558c4c.svg) Please keep in mind that a retuning of the tecs constant is necessary, as the bugfixes in commit https://github.com/PX4/PX4-Autopilot/commit/1018602f83330936445c592dd6f5e3f07399fcc5 has a big influence. Octave m-File to check the airspeed filter equation: [AirspeedSteadyStateKalman.zip](https://github.com/PX4/PX4-Autopilot/files/10068541/AirspeedSteadyStateKalman.zip)

Ready to go in once flash issues solved (and it needs to be rebased).

FW rate controller:
Add fixed wing rate control module by Jaeyoung-Lim · Pull Request #20237 · PX4/PX4-Autopilot · GitHub by @Jaeyoung-Lim

@dagar to have a look at the scheduling
@MaEtUgR has a look as well
@sfuhrer will test fly it

FW Board
@dagar would like to resurrect a FW/VTOL GH board - he will create it, and then we all make sure to keep it up to date.

VTOL

@dagar to sketch out proposal for moving much of the currently in vtol attitude module living allocation logic to the CA