Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-07 16:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: if statement cleanup in QuadPlane::assign_tilt_to_fwd_thr

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/quadplane.cpp
View File

@ -2923,7 +2923,11 @@ void QuadPlane::vtol_position_controller(void)
} }
void QuadPlane::assign_tilt_to_fwd_thr(void) { void QuadPlane::assign_tilt_to_fwd_thr(void) {
if (is_positive(q_fwd_thr_gain)) { 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 // 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 // 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)); float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
@ -2943,10 +2947,6 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
q_fwd_throttle *= fwd_thr_scaler; 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); 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 {
q_fwd_throttle = 0.0f;
}
} }
/* /*