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Plane: Support seperate roll and pitch limits

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This commit is contained in:
Leonard Hall 2019-07-27 15:08:02 +09:30 committed by Randy Mackay
parent 7f5d6662b3
commit 124d18228b
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/tailsitter.cpp
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@ -140,7 +140,8 @@ void QuadPlane::tailsitter_output(void)
tilt_right = extra_elevator + tilt_right * 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) { if (fabsf(tilt_left) >= SERVO_MAX || fabsf(tilt_right) >= SERVO_MAX) {
// prevent integrator windup // prevent integrator windup
motors->limit.roll_pitch = 1; motors->limit.roll = 1;
motors->limit.pitch = 1;
motors->limit.yaw = 1; motors->limit.yaw = 1;
} }
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left); SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);