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Tiltrotor: VTOL back-transition: expose tilting time as parameter and reduce overall duration #21760

Merged
merged 3 commits into from
Jun 27, 2023
Merged

Tiltrotor: VTOL back-transition: expose tilting time as parameter and reduce overall duration #21760

merged 3 commits into from
Jun 27, 2023

Commits on Jun 26, 2023

  1. tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s 

    This affects how soon after a backtransition the vehicle has the
full hover controller running again. Specifically it reduces the
duration of the ramp down of the motors prior to tilting them.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 26, 2023
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  2. tiltrotor: reduce BACKTRANS_THROTTLE_UPRAMP_DUR_S to 0.5s 

    This reduces the motor ramp up time after a transitions is declared over.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 26, 2023
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  3. tiltrotor: expose tilting duration of backtransition in param 

    Instead of hard-coding the tilting duration (from FW to MC tilt),
expose it as a parameter (VT_BT_TILT_DUR). The default is the same
as the hard-coded value previously (1s).
Slower tilting mechanisms need a higher value here, while for smaller
ones a too high value results in unnecessary delays till the motors
are in hover configuration.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Jun 26, 2023
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