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Plane: tailsitter: set motor limit flags

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Iampete1 2020-11-05 19:02:57 +00:00 committed by Andrew Tridgell
parent 69bec46fa8
commit 0976979045
1 changed files with 15 additions and 6 deletions
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21
ArduPlane/tailsitter.cpp
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@ -180,16 +180,25 @@ void QuadPlane::tailsitter_output(void)
}
tilt_left = extra_elevator + tilt_left * tailsitter.vectored_hover_gain;
tilt_right = extra_elevator + tilt_right * tailsitter.vectored_hover_gain;
if (fabsf(tilt_left) >= SERVO_MAX || fabsf(tilt_right) >= SERVO_MAX) {
// prevent integrator windup
motors->limit.roll = 1;
motors->limit.pitch = 1;
motors->limit.yaw = 1;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
}
// Check for saturated limits
bool tilt_lim = (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX);
bool roll_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_rudder)) == SERVO_MAX;
bool pitch_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_elevator)) == SERVO_MAX;
bool yaw_lim = labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_aileron)) == SERVO_MAX;
if (roll_lim) {
motors->limit.roll = true;
}
if (pitch_lim || tilt_lim) {
motors->limit.pitch = true;
}
if (yaw_lim || tilt_lim) {
motors->limit.yaw = true;
}
if (tailsitter.input_mask_chan > 0 &&
tailsitter.input_mask > 0 &&