Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: Fix FBWB/CRUISE missing zero crossing of elevator input

This commit is contained in:
pieniacy 2024-04-12 21:03:16 +02:00 committed by Randy Mackay
parent 73567e91d8
commit 00ae38e8ba
1 changed files with 7 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduPlane/navigation.cpp
View File

@ -394,15 +394,16 @@ void Plane::update_fbwb_speed_height(void)
elevator_input = -elevator_input; elevator_input = -elevator_input;
} }
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100; bool input_stop_climb = !is_positive(elevator_input) && is_positive(target_altitude.last_elevator_input);
change_target_altitude(alt_change_cm); bool input_stop_descent = !is_negative(elevator_input) && is_negative(target_altitude.last_elevator_input);
if (input_stop_climb || input_stop_descent) {
if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) { // user elevator input reached or passed zero, lock in the current altitude
// the user has just released the elevator, lock in
// the current altitude
set_target_altitude_current(); set_target_altitude_current();
} }
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
change_target_altitude(alt_change_cm);
#if HAL_SOARING_ENABLED #if HAL_SOARING_ENABLED
if (g2.soaring_controller.is_active()) { if (g2.soaring_controller.is_active()) {
if (g2.soaring_controller.get_throttle_suppressed()) { if (g2.soaring_controller.get_throttle_suppressed()) {