Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: Limit possible climb/sink rate in FBWB/CRUISE to TECS limits

Browse Source
This commit is contained in:
pieniacy 2024-04-20 14:08:45 +02:00 committed by Andrew Tridgell
parent d1d71db8a0
commit 4e29e1e6b0
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduPlane/navigation.cpp
View File

@ -401,7 +401,10 @@ void Plane::update_fbwb_speed_height(void)
set_target_altitude_current(); set_target_altitude_current();
} }
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100; float climb_rate = g.flybywire_climb_rate * elevator_input;
climb_rate = constrain_float(climb_rate, -TECS_controller.get_max_sinkrate(), TECS_controller.get_max_climbrate());
int32_t alt_change_cm = climb_rate * dt * 100;
change_target_altitude(alt_change_cm); change_target_altitude(alt_change_cm);
#if HAL_SOARING_ENABLED #if HAL_SOARING_ENABLED