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Plane: Fix FBWB/CRUISE missing zero crossing of elevator input

This commit is contained in:
pieniacy 2024-04-12 21:03:16 +02:00 committed by Randy Mackay
parent 4b9a4cad65
commit 71e2bea590
1 changed files with 7 additions and 6 deletions
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13
ArduPlane/navigation.cpp
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@ -394,15 +394,16 @@ void Plane::update_fbwb_speed_height(void)
elevator_input = -elevator_input;
}
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
change_target_altitude(alt_change_cm);
if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) {
// the user has just released the elevator, lock in
// the current altitude
bool input_stop_climb = !is_positive(elevator_input) && is_positive(target_altitude.last_elevator_input);
bool input_stop_descent = !is_negative(elevator_input) && is_negative(target_altitude.last_elevator_input);
if (input_stop_climb || input_stop_descent) {
// user elevator input reached or passed zero, lock in the current altitude
set_target_altitude_current();
}
int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
change_target_altitude(alt_change_cm);
#if HAL_SOARING_ENABLED
if (g2.soaring_controller.is_active()) {
if (g2.soaring_controller.get_throttle_suppressed()) {