January 31, 2023
Last time on…
Auxiliary controls
Ryan flies it, so far hasn’t found issue specifically to it.
Open things:
- trimming steering wheel with a parameter
- remove hard-coded mapping to enable aileron used as flaps, and dedicated spoilers (currently only possible to use ailerons as spoilers, and dedicated flaps)
@dagar proposes to introduce PWM_TRIM params. Would need feedback to handle saturation properly.
Move VTOL attitude allocation components
- we discuss moving the VTOL allocation to the control allocation again. Align on to work towards: just add a scalar (eg based on airspeed) to calculate effectiveness of each actuator depending on flight mode (hover, fixed-wing), and then use least squares to allocate torques/thrusts in an optimal way.
next steps:
- move airspeed scaling into CA
- model passive actuators (incl. effect of one actuator to another, like slip stream from a motor on a control surface)
- work on attitude allocator (between Position controller and Attitude controller/CA)
Acro yaw integrator
@silvan to check if integrator is working correctly in recent main, @ryanjAA to provide logs.
NEXT stable release, what’s needed?
- @ryanjAA mentions FOH issue that was fixed with FWPositionController: remove factor of 2 for switching to LOITER to achieve altitude setpoint by sfuhrer · Pull Request #21012 · PX4/PX4-Autopilot · GitHub.
- high airspeed checks: use max airspeed instead of trim airspeed divided by 2 → @sfuhrer to make PR.
New topics
FW landing outside of a mission
@sfuhrer is working on enabling FW landings without msision