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Plane: tailsitter: use true hover throttle in VTOL transision.

This commit is contained in:
Iampete1 2020-11-14 00:28:42 +00:00 committed by Andrew Tridgell
parent 681f45c4e0
commit 0e50023593
1 changed files with 12 additions and 4 deletions
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16
ArduPlane/tailsitter.cpp
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@ -82,16 +82,24 @@ void QuadPlane::tailsitter_output(void)
during transitions to vtol mode set the throttle to during transitions to vtol mode set the throttle to
hover thrust, center the rudder and set the altitude controller hover thrust, center the rudder and set the altitude controller
integrator to the same throttle level integrator to the same throttle level
convert the hover throttle to the same output that would result if used via AP_Motors
apply expo, battery scaling and SPIN min/max.
*/ */
throttle = motors->get_throttle_hover() * 100; throttle = motors->thrust_to_actuator(motors->get_throttle_hover()) * 100;
throttle = MAX(throttle,plane.aparm.throttle_cruise.get()); throttle = MAX(throttle,plane.aparm.throttle_cruise.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
pos_control->get_accel_z_pid().set_integrator(throttle*10); pos_control->get_accel_z_pid().set_integrator(throttle*10);
// override AP_MotorsTailsitter throttles during back transition // override AP_MotorsTailsitter throttles during back transition
// apply PWM min and MAX to throttle left and right, just as via AP_Motors
uint16_t throttle_pwm = motors->get_pwm_output_min() + (motors->get_pwm_output_max() - motors->get_pwm_output_min()) * throttle * 0.01f;
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, throttle_pwm);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, throttle_pwm);
// throttle output is not used by AP_Motors so might have diffrent PWM range, set scaled
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle);
} }
if (!assisted_flight) { if (!assisted_flight) {
@ -146,7 +154,7 @@ void QuadPlane::tailsitter_output(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX); SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, (motors->get_yaw())*-SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, (motors->get_pitch())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, (motors->get_roll())*SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, (motors->get_throttle()) * 100); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, motors->thrust_to_actuator(motors->get_throttle()) * 100);
if (hal.util->get_soft_armed()) { if (hal.util->get_soft_armed()) {
// scale surfaces for throttle // scale surfaces for throttle