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AP_Scripting: make target speed max of current and trim speed

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This commit is contained in:
Andrew Tridgell 2022-10-26 14:59:15 +11:00
parent dd390c257d
commit 16583704ed
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_Scripting/examples/Aerobatics/Trajectory/plane_aerobatics.lua
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@ -582,8 +582,12 @@ function vertical_aerobatic_box(t, total_length, total_width, r, arg4)
end
---------------------------------------------------
--[[
target speed is taken as max of target airspeed and current 3D
velocity at the start of the maneuver
--]]
function target_groundspeed()
return ahrs:get_EAS2TAS()*TRIM_ARSPD_CM:get()*0.01
return math.max(ahrs:get_EAS2TAS()*TRIM_ARSPD_CM:get()*0.01, ahrs:get_velocity_NED():length())
end
--Estimate the length of the path in metres
@ -969,8 +973,7 @@ function do_path()
--[[
run the throttle based speed controller
--]]
local target_speed = target_groundspeed()--TRIM_ARSPD_CM:get()*0.01
throttle = speed_PI.update(target_speed)
throttle = speed_PI.update(path_var.target_speed)
throttle = constrain(throttle, 0, 100.0)
if isNaN(throttle) or isNaN(tot_ang_vel_bf_dps:x()) or isNaN(tot_ang_vel_bf_dps:y()) or isNaN(tot_ang_vel_bf_dps:z()) then