mirror of https://github.com/ArduPilot/ardupilot
Plane: Quadplane: SLT: enforce TECS pitch limits to beat race
This commit is contained in:
parent
854061fdbe
commit
46fae47a06
|
@ -1530,17 +1530,6 @@ void SLT_Transition::update()
|
||||||
transition_low_airspeed_ms = 0;
|
transition_low_airspeed_ms = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
if (transition_state < TRANSITION_TIMER) {
|
|
||||||
// set a single loop pitch limit in TECS
|
|
||||||
if (plane.ahrs.groundspeed() < 3) {
|
|
||||||
// until we have some ground speed limit to zero pitch
|
|
||||||
plane.TECS_controller.set_pitch_max_limit(0);
|
|
||||||
} else {
|
|
||||||
plane.TECS_controller.set_pitch_max_limit(quadplane.transition_pitch_max);
|
|
||||||
}
|
|
||||||
} else if (transition_state < TRANSITION_DONE) {
|
|
||||||
plane.TECS_controller.set_pitch_max_limit((quadplane.transition_pitch_max+1)*2);
|
|
||||||
}
|
|
||||||
if (transition_state < TRANSITION_DONE) {
|
if (transition_state < TRANSITION_DONE) {
|
||||||
// during transition we ask TECS to use a synthetic
|
// during transition we ask TECS to use a synthetic
|
||||||
// airspeed. Otherwise the pitch limits will throw off the
|
// airspeed. Otherwise the pitch limits will throw off the
|
||||||
|
@ -4236,6 +4225,38 @@ MAV_VTOL_STATE SLT_Transition::get_mav_vtol_state() const
|
||||||
return MAV_VTOL_STATE_UNDEFINED;
|
return MAV_VTOL_STATE_UNDEFINED;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Set FW roll and pitch limits and keep TECS informed
|
||||||
|
void SLT_Transition::set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd, bool& allow_stick_mixing)
|
||||||
|
{
|
||||||
|
if (quadplane.in_vtol_mode() || quadplane.in_vtol_airbrake()) {
|
||||||
|
// not in FW flight
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (transition_state == TRANSITION_DONE) {
|
||||||
|
// transition complete, nothing to do
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
float max_pitch;
|
||||||
|
if (transition_state < TRANSITION_TIMER) {
|
||||||
|
if (plane.ahrs.groundspeed() < 3.0) {
|
||||||
|
// until we have some ground speed limit to zero pitch
|
||||||
|
max_pitch = 0.0;
|
||||||
|
} else {
|
||||||
|
max_pitch = quadplane.transition_pitch_max;
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
max_pitch = (quadplane.transition_pitch_max+1.0)*2.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// set a single loop pitch limit in TECS
|
||||||
|
plane.TECS_controller.set_pitch_max_limit(max_pitch);
|
||||||
|
|
||||||
|
// ensure pitch is constrained to limit
|
||||||
|
nav_pitch_cd = constrain_int32(nav_pitch_cd, -max_pitch*100.0, max_pitch*100.0);
|
||||||
|
}
|
||||||
|
|
||||||
/*
|
/*
|
||||||
see if we are in a VTOL takeoff
|
see if we are in a VTOL takeoff
|
||||||
*/
|
*/
|
||||||
|
|
|
@ -87,6 +87,8 @@ public:
|
||||||
|
|
||||||
bool show_vtol_view() const override;
|
bool show_vtol_view() const override;
|
||||||
|
|
||||||
|
void set_FW_roll_pitch(int32_t& nav_pitch_cd, int32_t& nav_roll_cd, bool& allow_stick_mixing) override;
|
||||||
|
|
||||||
bool set_FW_roll_limit(int32_t& roll_limit_cd) override;
|
bool set_FW_roll_limit(int32_t& roll_limit_cd) override;
|
||||||
|
|
||||||
bool allow_update_throttle_mix() const override;
|
bool allow_update_throttle_mix() const override;
|
||||||
|
|
Loading…
Reference in New Issue