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AC_AttitudeControl: Support thrust to weight of 10:1

This commit is contained in:
Leonard Hall 2021-07-30 22:38:19 +09:30 committed by Andrew Tridgell
parent a1f0ad63a9
commit 628206b5e8
1 changed files with 3 additions and 2 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -295,8 +295,9 @@ float AC_AttitudeControl_Multi::get_throttle_boosted(float throttle_in)
// inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees // inverted_factor reduces from 1 to 0 for tilt angles between 60 and 90 degrees
float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll(); float cos_tilt = _ahrs.cos_pitch() * _ahrs.cos_roll();
float inverted_factor = constrain_float(2.0f * cos_tilt, 0.0f, 1.0f); float inverted_factor = constrain_float(10.0f * cos_tilt, 0.0f, 1.0f);
float boost_factor = 1.0f / constrain_float(cos_tilt, 0.5f, 1.0f); float cos_tilt_target = cosf(_thrust_angle);
float boost_factor = 1.0f / constrain_float(cos_tilt_target, 0.1f, 1.0f);
float throttle_out = throttle_in * inverted_factor * boost_factor; float throttle_out = throttle_in * inverted_factor * boost_factor;
_angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f); _angle_boost = constrain_float(throttle_out - throttle_in, -1.0f, 1.0f);