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Plane: add param for throttle control in transition to VTOL

This commit is contained in:
Hwurzburg 2021-08-21 12:01:57 -05:00 committed by Peter Hall
parent c178962200
commit 636358b668
2 changed files with 16 additions and 3 deletions
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18
ArduPlane/tailsitter.cpp
View File

@ -134,6 +134,13 @@ const AP_Param::GroupInfo Tailsitter::var_info[] = {
// @Range: 10 500
AP_GROUPINFO("RAT_VT", 17, Tailsitter, transition_rate_vtol, 50),
// @Param: THR_VT
// @DisplayName: Tailsitter forward flight to VTOL transition throttle
// @Description: Throttle used during FW->VTOL transition, -1 uses hover throttle
// @Units: %
// @Range: -1 100
AP_GROUPINFO("THR_VT", 18, Tailsitter, transition_throttle_vtol, -1),
AP_GROUPEND
};
@ -256,9 +263,14 @@ void Tailsitter::output(void)
/*
during transitions to vtol mode set the throttle to hover thrust, center the rudder
*/
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));
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));
} 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));
}
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
plane.rudder_dt = 0;

1
ArduPlane/tailsitter.h
View File

@ -87,6 +87,7 @@ public:
AP_Float transition_rate_fw;
AP_Int8 transition_angle_vtol;
AP_Float transition_rate_vtol;
AP_Float transition_throttle_vtol;
AP_Int8 input_type;
AP_Float vectored_forward_gain;
AP_Float vectored_hover_gain;