Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM: obey pitch limits in FBWA as well

Browse Source 
this means pitch limits are constrained by LIM_PITCH_MIN and
LIM_PITCH_MAX
This commit is contained in:
Andrew Tridgell 2012-08-30 20:15:15 +10:00
parent 9a987ce116
commit 83153eebd4
1 changed files with 9 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduPlane/ArduPlane.pde
View File

@ -1137,16 +1137,21 @@ static void update_current_flight_mode(void)
calc_throttle(); calc_throttle();
break; break;
case FLY_BY_WIRE_A: case FLY_BY_WIRE_A: {
// set nav_roll and nav_pitch using sticks // set nav_roll and nav_pitch using sticks
nav_roll_cd = g.channel_roll.norm_input() * g.roll_limit_cd; nav_roll_cd = g.channel_roll.norm_input() * g.roll_limit_cd;
nav_pitch_cd = g.channel_pitch.norm_input() * (-1) * g.pitch_limit_min_cd; float pitch_input = g.channel_pitch.norm_input();
// We use pitch_min above because it is usually greater magnitude then pitch_max. -1 is to compensate for its sign. if (pitch_input > 0) {
nav_pitch_cd = constrain(nav_pitch_cd, -3000, 3000); // trying to give more pitch authority nav_pitch_cd = pitch_input * g.pitch_limit_max_cd;
} else {
nav_pitch_cd = -(pitch_input * g.pitch_limit_min_cd);
}
nav_pitch_cd = constrain(nav_pitch_cd, g.pitch_limit_min_cd.get(), g.pitch_limit_max_cd.get());
if (inverted_flight) { if (inverted_flight) {
nav_pitch_cd = -nav_pitch_cd; nav_pitch_cd = -nav_pitch_cd;
} }
break; break;
}
case FLY_BY_WIRE_B: case FLY_BY_WIRE_B:
// Substitute stick inputs for Navigation control output // Substitute stick inputs for Navigation control output