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Plane: limit target accel in POSITION1 

don't ask for more than 2* transition limit, and reset when we enter
overshoot case
This commit is contained in:
Andrew Tridgell 2022-07-30 10:56:33 +10:00 committed by Randy Mackay
parent b2f17e7553
commit 29ccd0e106
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -2498,7 +2498,7 @@ void QuadPlane::vtol_position_controller(void)
Vector2f target_accel_cms; Vector2f target_accel_cms;
bool have_target_yaw = false; bool have_target_yaw = false;
float target_yaw_deg; float target_yaw_deg;
const float target_accel = accel_needed(distance, sq(closing_groundspeed)); const float target_accel = MIN(accel_needed(distance, sq(closing_groundspeed)), transition_decel*2);
if (distance > 0.1) { if (distance > 0.1) {
Vector2f diff_wp_norm = diff_wp.normalized(); Vector2f diff_wp_norm = diff_wp.normalized();
target_speed_xy_cms = diff_wp_norm * target_speed * 100; target_speed_xy_cms = diff_wp_norm * target_speed * 100;
@ -2510,6 +2510,7 @@ void QuadPlane::vtol_position_controller(void)
gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f", gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
distance, closing_groundspeed, yaw_err_deg); distance, closing_groundspeed, yaw_err_deg);
poscontrol.overshoot = true; poscontrol.overshoot = true;
pos_control->set_accel_desired_xy_cmss(Vector2f());
} }
if (poscontrol.overshoot) { if (poscontrol.overshoot) {
/* we have overshot the landing point or our nose is /* we have overshot the landing point or our nose is