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Plane: Quadplane: use new motors thrust linearization, don't send air density ratio

This commit is contained in:
Iampete1 2023-01-31 01:55:04 +00:00 committed by Andrew Tridgell
parent be275e2cac
commit 5f56a603a8
2 changed files with 3 additions and 9 deletions
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6
ArduPlane/ArduPlane.cpp
View File

@ -511,12 +511,6 @@ void Plane::update_alt()
{
barometer.update();
#if HAL_QUADPLANE_ENABLED
if (quadplane.available()) {
quadplane.motors->set_air_density_ratio(barometer.get_air_density_ratio());
}
#endif
// calculate the sink rate.
float sink_rate;
Vector3f vel;

6
ArduPlane/tailsitter.cpp
View File

@ -302,11 +302,11 @@ void Tailsitter::output(void)
*/
if (!is_negative(transition_throttle_vtol)) {
// Q_TAILSIT_THR_VT is positive use it until transition is complete
throttle = motors->actuator_to_thrust(MIN(transition_throttle_vtol*0.01,1.0));
throttle = motors->thr_lin.actuator_to_thrust(MIN(transition_throttle_vtol*0.01,1.0));
} else {
throttle = motors->get_throttle_hover();
// work out equivelent motors throttle level for cruise
throttle = MAX(throttle,motors->actuator_to_thrust(plane.aparm.throttle_cruise.get() * 0.01));
throttle = MAX(throttle,motors->thr_lin.actuator_to_thrust(plane.aparm.throttle_cruise.get() * 0.01));
}
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0.0);
@ -321,7 +321,7 @@ void Tailsitter::output(void)
// convert the hover throttle to the same output that would result if used via AP_Motors
// apply expo, battery scaling and SPIN min/max.
throttle = motors->thrust_to_actuator(throttle);
throttle = motors->thr_lin.thrust_to_actuator(throttle);
// override AP_MotorsTailsitter throttles during back transition