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

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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
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40
ArduPlane/quadplane.cpp
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@ -2359,25 +2359,27 @@ void QuadPlane::vtol_position_controller(void)
plane.nav_roll_cd = pos_control->get_roll_cd(); plane.nav_roll_cd = pos_control->get_roll_cd();
plane.nav_pitch_cd = pos_control->get_pitch_cd(); plane.nav_pitch_cd = pos_control->get_pitch_cd();
/* if (!tailsitter.enabled()) {
limit the pitch down with an expanding envelope. This /*
prevents the velocity controller demanding nose down during limit the pitch down with an expanding envelope. This
the initial slowdown if the target velocity curve is higher prevents the velocity controller demanding nose down during
than the actual velocity curve (for a high drag the initial slowdown if the target velocity curve is higher
aircraft). Nose down will cause a lot of downforce on the than the actual velocity curve (for a high drag
wings which will draw a lot of current and also cause the aircraft). Nose down will cause a lot of downforce on the
aircraft to lose altitude rapidly.pitch limit varies also with speed wings which will draw a lot of current and also cause the
to prevent inability to progress to position if moving from a loiter aircraft to lose altitude rapidly.pitch limit varies also with speed
to landing 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(), float minlimit_cd = linear_interpolate(-300, MAX(-aparm.angle_max,plane.aparm.pitch_limit_min_cd),
0, 5000); poscontrol.time_since_state_start_ms(),
if (plane.nav_pitch_cd < minlimit_cd) { 0, 5000);
plane.nav_pitch_cd = minlimit_cd; if (plane.nav_pitch_cd < minlimit_cd) {
// tell the pos controller we have limited the pitch to plane.nav_pitch_cd = minlimit_cd;
// stop integrator buildup // tell the pos controller we have limited the pitch to
pos_control->set_externally_limited_xy(); // stop integrator buildup
pos_control->set_externally_limited_xy();
}
} }
// call attitude controller // call attitude controller