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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
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2
ArduPlane/quadplane.cpp
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@ -2359,6 +2359,7 @@ void QuadPlane::vtol_position_controller(void)
plane.nav_roll_cd = pos_control->get_roll_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
@ -2379,6 +2380,7 @@ void QuadPlane::vtol_position_controller(void)
// stop integrator buildup
pos_control->set_externally_limited_xy();
}
}
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,