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Plane: ensure speed scaling covers full aircraft speed range 

this is important for very fast or very slow aircraft
This commit is contained in:
Andrew Tridgell 2018-11-02 14:56:06 +11:00
parent bcd2d3805d
commit 1ed8e4fd2b
1 changed files with 4 additions and 1 deletions
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ArduPlane/Attitude.cpp
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@ -17,7 +17,10 @@ float Plane::get_speed_scaler(void)
} else { } else {
speed_scaler = 2.0; speed_scaler = 2.0;
} }
speed_scaler = constrain_float(speed_scaler, 0.5f, 2.0f); // ensure we have scaling over the full configured airspeed
float scale_min = MIN(0.5, (0.5 * aparm.airspeed_min) / g.scaling_speed);
float scale_max = MAX(2.0, (1.5 * aparm.airspeed_max) / g.scaling_speed);
speed_scaler = constrain_float(speed_scaler, scale_min, scale_max);
if (quadplane.in_vtol_mode() && hal.util->get_soft_armed()) { if (quadplane.in_vtol_mode() && hal.util->get_soft_armed()) {
// when in VTOL modes limit surface movement at low speed to prevent instability // when in VTOL modes limit surface movement at low speed to prevent instability