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Plane: zero integrators and set throttle mix

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this zeros fixed wing integrators during TRANSITION_AIRSPEED_WAIT and
uses a zero throttle mix during TRANSITION_TIMER. This should allow
the fixed wing controller more time to adapt to forward flight
This commit is contained in:
Andrew Tridgell 2017-01-29 10:40:56 +11:00
parent e5ed20d6f7
commit 4ff5bf5af5
1 changed files with 21 additions and 3 deletions
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24
ArduPlane/quadplane.cpp
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@ -1118,6 +1118,15 @@ void QuadPlane::update_transition(void)
run_rate_controller();
motors_output();
last_throttle = motors->get_throttle();
// reset integrators while we are below target airspeed as we
// may build up too much while still primarily under
// multicopter control
plane.pitchController.reset_I();
plane.rollController.reset_I();
// give full authority to attitude control
attitude_control->set_throttle_mix_max();
break;
}
@ -1130,7 +1139,14 @@ void QuadPlane::update_transition(void)
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done");
}
float trans_time_ms = (float)transition_time_ms.get();
float throttle_scaled = last_throttle * (trans_time_ms - (millis() - transition_start_ms)) / trans_time_ms;
float transition_scale = (trans_time_ms - (millis() - transition_start_ms)) / trans_time_ms;
float throttle_scaled = last_throttle * transition_scale;
// set zero throttle mix, to give full authority to
// throttle. This ensures that the fixed wing controllers get
// a chance to learn the right integrators during the transition
attitude_control->set_throttle_mix_value(0.5*transition_scale);
if (throttle_scaled < 0.01) {
// ensure we don't drop all the way to zero or the motors
// will stop stabilizing
@ -1170,7 +1186,6 @@ void QuadPlane::update_transition(void)
*/
void QuadPlane::run_rate_controller(void)
{
attitude_control->set_throttle_mix_max();
attitude_control->rate_controller_run();
}
@ -1193,12 +1208,15 @@ void QuadPlane::update(void)
motor_test_output();
return;
}
if (!in_vtol_mode()) {
update_transition();
} else {
assisted_flight = false;
// give full authority to attitude control
attitude_control->set_throttle_mix_max();
// run low level rate controllers
run_rate_controller();