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Plane: fixed tilt transition with binary tilt servo

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once the tilt is fully fwd then force transition as done at any
airspeed
This commit is contained in:
Andrew Tridgell 2017-01-23 13:06:31 +11:00
parent 586f8a9ca8
commit 5c820adad4
3 changed files with 17 additions and 0 deletions
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5
ArduPlane/quadplane.cpp
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@ -1011,6 +1011,11 @@ void QuadPlane::update_transition(void)
assisted_flight = false; assisted_flight = false;
} }
// if rotors are fully forward then we are not transitioning
if (tiltrotor_fully_fwd()) {
transition_state = TRANSITION_DONE;
}
if (transition_state < TRANSITION_TIMER) { if (transition_state < TRANSITION_TIMER) {
// set a single loop pitch limit in TECS // set a single loop pitch limit in TECS
if (plane.ahrs.groundspeed() < 3) { if (plane.ahrs.groundspeed() < 3) {

1
ArduPlane/quadplane.h
View File

@ -323,6 +323,7 @@ private:
void tiltrotor_continuous_update(void); void tiltrotor_continuous_update(void);
void tiltrotor_binary_update(void); void tiltrotor_binary_update(void);
void tilt_compensate(float *thrust, uint8_t num_motors); void tilt_compensate(float *thrust, uint8_t num_motors);
bool tiltrotor_fully_fwd(void);
void afs_terminate(void); void afs_terminate(void);
bool guided_mode_enabled(void); bool guided_mode_enabled(void);

11
ArduPlane/tiltrotor.cpp
View File

@ -229,3 +229,14 @@ void QuadPlane::tilt_compensate(float *thrust, uint8_t num_motors)
} }
} }
} }
/*
return true if the rotors are fully tilted forward
*/
bool QuadPlane::tiltrotor_fully_fwd(void)
{
if (tilt.tilt_mask <= 0) {
return false;
}
return (tilt.current_tilt >= 1);
}