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Plane: Added a constraint to demanded bank angle during FBW-A mode to prevent roll limits being exceeded

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priseborough 2013-05-07 05:13:28 +10:00 committed by Andrew Tridgell
parent aee23361dd
commit 854c50501d
1 changed files with 1 additions and 0 deletions
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ArduPlane/ArduPlane.pde
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@ -1150,6 +1150,7 @@ static void update_current_flight_mode(void)
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_roll_cd = constrain_int32(nav_roll_cd, -g.roll_limit_cd, g.roll_limit_cd);
float pitch_input = g.channel_pitch.norm_input(); float pitch_input = g.channel_pitch.norm_input();
if (pitch_input > 0) { if (pitch_input > 0) {
nav_pitch_cd = pitch_input * g.pitch_limit_max_cd; nav_pitch_cd = pitch_input * g.pitch_limit_max_cd;