January 17, 2023
Last time on…
Auxiliary controls
- Auxiliary flight control actuator handling rework Take2 by sfuhrer · Pull Request #20815 · PX4/PX4-Autopilot · GitHub
- @dagar last pass
- keep on next PRs after
TECS refactor
- #done
- (more to come
)
FW rate controller own module
- #done
- next steps continuing
FW/VTOL project board!
Move VTOL attitude allocation components
-
@dagar proposal - the “tear it apart now approach”:
- split control allocator into a couple different groups (vtol/fw/mc)
- outputs still can be mixed after each allocator for vtol
- at least takes complexity out of fw/mc controllers, can work on allocation unification after
- e.g. transitions can be done all in one place at level of allocation
- or if there are more fundamental ideas of how this should all work, can try and roadmap our way there
- let’s write out some block diagrams for specific airframes! (high level down to control allocation - what does it ideally look like in isolation?)
- standard vtol
- control surfaceless tailsitter
- tailsitter (+ control surfaces) – think advance ratio, prop wash
- make sure to consider user experience for setup
This (happy new) year!
Acro yaw integrator
- https://review.px4.io/plot_app?log=258097c6-de98-4ffc-aba7-a0ef84bcb52e
- recent
maintesting shows yaw integrator not active in any mode - take *more recent
main, sim first, see if a bug (possibly just unlucky with buggy commit) - FW Attitude Control: fix integral resetting by sfuhrer · Pull Request #20680 · PX4/PX4-Autopilot · GitHub
NEXT stable release, what’s needed?
- need to accumulate recommended points from @ryanjAA (fixed-wing behaviors)
- actuators take 2