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Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr

This commit is contained in:
Paul Riseborough 2023-08-30 20:27:24 +10:00 committed by Andrew Tridgell
parent 57cfe854b2
commit 16895003df
1 changed files with 22 additions and 22 deletions
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44
ArduPlane/quadplane.cpp
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@ -2923,29 +2923,29 @@ void QuadPlane::vtol_position_controller(void)
}
void QuadPlane::assign_tilt_to_fwd_thr(void) {
if (is_positive(q_fwd_thr_gain)) {
// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
// and are using the forward thrust motor or tilting rotors to provide the forward acceleration
float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
q_fwd_nav_pitch_lim_cd = (int32_t)(-100.0f * q_fwd_pitch_lim);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, q_fwd_nav_pitch_lim_cd);
q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
// To prevent forward motor prop strike, reduce throttle to zero when close to ground
// When we are doing horizontal positioning in a VTOL land
// we always allow the fwd motor to run. Otherwise a bad
// lidar could cause the aircraft not to be able to
// approach the landing point when landing below the takeoff point
if (!in_vtol_land_approach()) {
float alt_cutoff = MAX(0,vel_forward_alt_cutoff);
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
float fwd_thr_scaler = linear_interpolate(0.0f, 1.0f, height_above_ground, alt_cutoff, alt_cutoff+2);
q_fwd_throttle *= fwd_thr_scaler;
q_fwd_nav_pitch_lim_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + 100.0f * q_fwd_pitch_lim * fwd_thr_scaler);
}
} else {
if (!is_positive(q_fwd_thr_gain)) {
q_fwd_throttle = 0.0f;
return;
}
// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
// and are using the forward thrust motor or tilting rotors to provide the forward acceleration
float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
q_fwd_nav_pitch_lim_cd = (int32_t)(-100.0f * q_fwd_pitch_lim);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, q_fwd_nav_pitch_lim_cd);
q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
// To prevent forward motor prop strike, reduce throttle to zero when close to ground
// When we are doing horizontal positioning in a VTOL land
// we always allow the fwd motor to run. Otherwise a bad
// lidar could cause the aircraft not to be able to
// approach the landing point when landing below the takeoff point
if (!in_vtol_land_approach()) {
float alt_cutoff = MAX(0,vel_forward_alt_cutoff);
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
float fwd_thr_scaler = linear_interpolate(0.0f, 1.0f, height_above_ground, alt_cutoff, alt_cutoff+2);
q_fwd_throttle *= fwd_thr_scaler;
q_fwd_nav_pitch_lim_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + 100.0f * q_fwd_pitch_lim * fwd_thr_scaler);
}
}