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Plane: use forward tilt instead of forward throttle when close to ground

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Paul Riseborough 2023-08-20 20:41:34 +10:00 committed by Andrew Tridgell
parent 8988de3c7c
commit 04e5f6b5f6
1 changed files with 1 additions and 0 deletions
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ArduPlane/quadplane.cpp
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@ -2941,6 +2941,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
float fwd_thr_scaler = linear_interpolate(0.0f, 1.0f, height_above_ground, alt_cutoff, alt_cutoff+2);
q_fwd_throttle *= fwd_thr_scaler;
q_fwd_nav_pitch_lim_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + 100.0f * q_fwd_pitch_lim * fwd_thr_scaler);
}
} else {