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Plane: tailsitter: output 0 tilt with 0 vector gain

This commit is contained in:
Iampete1 2020-11-10 00:43:07 +00:00 committed by Andrew Tridgell
parent c62c19c798
commit 33e397c524
1 changed files with 11 additions and 5 deletions
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16
ArduPlane/tailsitter.cpp
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@ -134,6 +134,8 @@ void QuadPlane::tailsitter_output(void)
attitude_control->reset_rate_controller_I_terms();
// output tilt motors
tilt_left = 0.0f;
tilt_right = 0.0f;
if (tailsitter.vectored_hover_gain > 0) {
const float hover_throttle = motors->get_throttle_hover();
const float throttle = motors->get_throttle();
@ -141,10 +143,12 @@ void QuadPlane::tailsitter_output(void)
if (is_positive(throttle)) {
throttle_scaler = constrain_float(hover_throttle / throttle, tailsitter.gain_scaling_min, tailsitter.throttle_scale_max);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft) * tailsitter.vectored_hover_gain * throttle_scaler);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight) * tailsitter.vectored_hover_gain * throttle_scaler);
tilt_left = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft) * tailsitter.vectored_hover_gain * throttle_scaler;
tilt_right = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight) * tailsitter.vectored_hover_gain * throttle_scaler;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
// skip remainder of the function that overwrites plane control surface outputs with copter
return;
@ -168,6 +172,8 @@ void QuadPlane::tailsitter_output(void)
tailsitter_speed_scaling();
}
tilt_left = 0.0f;
tilt_right = 0.0f;
if (tailsitter.vectored_hover_gain > 0) {
// thrust vectoring VTOL modes
tilt_left = SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft);
@ -187,9 +193,9 @@ void QuadPlane::tailsitter_output(void)
}
tilt_left = extra_elevator + tilt_left * tailsitter.vectored_hover_gain;
tilt_right = extra_elevator + tilt_right * tailsitter.vectored_hover_gain;
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);
// Check for saturated limits
bool tilt_lim = (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorLeft)) == SERVO_MAX) || (labs(SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t::k_tiltMotorRight)) == SERVO_MAX);