Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: don't apply fw pitch limit in VTOL control for tailsitters 

tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
This commit is contained in:
Andrew Tridgell 2021-10-09 19:33:47 +11:00
parent f0bc041b86
commit 570ecdc2e0
1 changed files with 21 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

40
ArduPlane/quadplane.cpp
View File

@ -2359,25 +2359,27 @@ void QuadPlane::vtol_position_controller(void)
plane.nav_roll_cd = pos_control->get_roll_cd();
plane.nav_pitch_cd = pos_control->get_pitch_cd();
/*
limit the pitch down with an expanding envelope. This
prevents the velocity controller demanding nose down during
the initial slowdown if the target velocity curve is higher
than the actual velocity curve (for a high drag
aircraft). Nose down will cause a lot of downforce on the
wings which will draw a lot of current and also cause the
aircraft to lose altitude rapidly.pitch limit varies also with speed
to prevent inability to progress to position if moving from a loiter
to landing
*/
float minlimit_cd = linear_interpolate(-300, MAX(-aparm.angle_max,plane.aparm.pitch_limit_min_cd),
poscontrol.time_since_state_start_ms(),
0, 5000);
if (plane.nav_pitch_cd < minlimit_cd) {
plane.nav_pitch_cd = minlimit_cd;
// tell the pos controller we have limited the pitch to
// stop integrator buildup
pos_control->set_externally_limited_xy();
if (!tailsitter.enabled()) {
/*
limit the pitch down with an expanding envelope. This
prevents the velocity controller demanding nose down during
the initial slowdown if the target velocity curve is higher
than the actual velocity curve (for a high drag
aircraft). Nose down will cause a lot of downforce on the
wings which will draw a lot of current and also cause the
aircraft to lose altitude rapidly.pitch limit varies also with speed
to prevent inability to progress to position if moving from a loiter
to landing
*/
float minlimit_cd = linear_interpolate(-300, MAX(-aparm.angle_max,plane.aparm.pitch_limit_min_cd),
poscontrol.time_since_state_start_ms(),
0, 5000);
if (plane.nav_pitch_cd < minlimit_cd) {
plane.nav_pitch_cd = minlimit_cd;
// tell the pos controller we have limited the pitch to
// stop integrator buildup
pos_control->set_externally_limited_xy();
}
}
// call attitude controller