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Plane: added speed scaling reduction for Q modes

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when in a Q mode reduce surface movements at low airspeed, in case we
have the wind from behind us. This prevents the control surfaces from
causing instability
This commit is contained in:
Andrew Tridgell 2018-09-13 13:49:58 +10:00
parent 820b2386c0
commit 102ee99802
1 changed files with 9 additions and 0 deletions
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9
ArduPlane/Attitude.cpp
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@ -18,6 +18,15 @@ float Plane::get_speed_scaler(void)
speed_scaler = 2.0; speed_scaler = 2.0;
} }
speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f); speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f);
if (quadplane.in_vtol_mode() && hal.util->get_soft_armed()) {
// when in VTOL modes limit surface movement at low speed to prevent instability
float threshold = aparm.airspeed_min * 0.5;
if (aspeed < threshold) {
float new_scaler = linear_interpolate(0, g.scaling_speed / threshold, aspeed, 0, threshold);
speed_scaler = MIN(speed_scaler, new_scaler);
}
}
} else { } else {
if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0) { if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0) {
speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 2.0f); // First order taylor expansion of square root speed_scaler = 0.5f + ((float)THROTTLE_CRUISE / SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) / 2.0f); // First order taylor expansion of square root