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Plane: fixed stick mixing and throttle nudge in QRTL approach

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thanks to Henry for noticing this
This commit is contained in:
Andrew Tridgell 2021-12-25 11:27:59 +11:00 committed by Peter Barker
parent a33febd90a
commit 336b666f83
3 changed files with 14 additions and 1 deletions
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1
ArduPlane/Attitude.cpp
View File

@ -258,7 +258,6 @@ void Plane::stabilize_stick_mixing_fbw()
control_mode == &mode_qhover || control_mode == &mode_qhover ||
control_mode == &mode_qloiter || control_mode == &mode_qloiter ||
control_mode == &mode_qland || control_mode == &mode_qland ||
control_mode == &mode_qrtl ||
control_mode == &mode_qacro || control_mode == &mode_qacro ||
#if QAUTOTUNE_ENABLED #if QAUTOTUNE_ENABLED
control_mode == &mode_qautotune || control_mode == &mode_qautotune ||

2
ArduPlane/mode.h
View File

@ -592,6 +592,8 @@ public:
bool update_target_altitude() override; bool update_target_altitude() override;
bool allows_throttle_nudging() const override;
protected: protected:
bool _enter() override; bool _enter() override;

12
ArduPlane/mode_qrtl.cpp
View File

@ -49,6 +49,12 @@ void ModeQRTL::run()
// start landing logic // start landing logic
quadplane.verify_vtol_land(); quadplane.verify_vtol_land();
} }
// when in approach allow stick mixing
if (quadplane.poscontrol.get_state() == QuadPlane::QPOS_AIRBRAKE ||
quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH) {
plane.stabilize_stick_mixing_fbw();
}
} }
/* /*
@ -83,4 +89,10 @@ bool ModeQRTL::update_target_altitude()
return true; return true;
} }
// only nudge during approach
bool ModeQRTL::allows_throttle_nudging() const
{
return plane.quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH;
}
#endif #endif