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Plane: quadplane's throttle mix uses filtered accelerations

This commit is contained in:
Randy Mackay 2020-03-04 15:05:13 +09:00 committed by Andrew Tridgell
parent d16f31711e
commit 59a2667870
2 changed files with 9 additions and 3 deletions
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9
ArduPlane/quadplane.cpp
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@ -3182,6 +3182,11 @@ float QuadPlane::stopping_distance(void)
void QuadPlane::update_throttle_mix(void)
{
// update filtered acceleration
Vector3f accel_ef = ahrs.get_accel_ef_blended();
accel_ef.z += GRAVITY_MSS;
throttle_mix_accel_ef_filter.apply(accel_ef, plane.scheduler.get_loop_period_s());
// transition will directly manage the mix
if (in_transition()) {
return;
@ -3212,9 +3217,7 @@ void QuadPlane::update_throttle_mix(void)
bool large_angle_error = (angle_error > LAND_CHECK_ANGLE_ERROR_DEG);
// check for large acceleration - falling or high turbulence
Vector3f accel_ef = plane.ahrs.get_accel_ef_blended();
accel_ef.z += GRAVITY_MSS;
bool accel_moving = (accel_ef.length() > LAND_CHECK_ACCEL_MOVING);
bool accel_moving = (throttle_mix_accel_ef_filter.get().length() > LAND_CHECK_ACCEL_MOVING);
// check for requested decent
bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;

3
ArduPlane/quadplane.h
View File

@ -389,6 +389,9 @@ private:
float vpos_start_m;
} landing_detect;
// throttle mix acceleration filter
LowPassFilterVector3f throttle_mix_accel_ef_filter = LowPassFilterVector3f(1.0f);
// time we last set the loiter target
uint32_t last_loiter_ms;