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Plane: tailsitters use Z stopping point on transition

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Iampete1 2020-10-30 21:36:15 +00:00 committed by Andrew Tridgell
parent dce2f78d6f
commit 5f67f8130b
1 changed files with 9 additions and 4 deletions
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13
ArduPlane/quadplane.cpp
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@ -956,10 +956,15 @@ void QuadPlane::run_z_controller(void)
{
const uint32_t now = AP_HAL::millis();
if (now - last_pidz_active_ms > 2000) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
gcs().send_text(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)inertial_nav.get_altitude() / 100);
set_alt_target_current();
if (!is_tailsitter()) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
set_alt_target_current();
} else {
// tailsitters gain lots of vertical speed in transisison, set target to the stopping point
pos_control->set_target_to_stopping_point_z();
}
gcs().send_text(MAV_SEVERITY_INFO, "Reset alt target to %.1f", (double)pos_control->get_alt_target() * 0.01f);
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialize vertical speeds and leash lengths