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AP_Motors: fixed tailsitter use of SPIN_MIN

This commit is contained in:
Andrew Tridgell 2017-11-04 09:27:54 +11:00
parent e63e39c411
commit 878d2e2563
1 changed files with 9 additions and 6 deletions
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15
libraries/AP_Motors/AP_MotorsTailsitter.cpp
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@ -49,12 +49,13 @@ void AP_MotorsTailsitter::output_to_motors()
if (!_flags.initialised_ok) {
return;
}
float throttle = _throttle;
float throttle_left = 0;
float throttle_right = 0;
switch (_spool_mode) {
case SHUT_DOWN:
_throttle = 0;
throttle = 0;
// set limits flags
limit.roll_pitch = true;
limit.yaw = true;
@ -63,7 +64,7 @@ void AP_MotorsTailsitter::output_to_motors()
break;
case SPIN_WHEN_ARMED:
// sends output to motors when armed but not flying
_throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
throttle = constrain_float(_spin_up_ratio, 0.0f, 1.0f) * _spin_min;
// set limits flags
limit.roll_pitch = true;
limit.yaw = true;
@ -72,21 +73,23 @@ void AP_MotorsTailsitter::output_to_motors()
break;
case SPOOL_UP:
case THROTTLE_UNLIMITED:
case SPOOL_DOWN:
throttle_left = constrain_float(_throttle + _rudder*0.5, 0, 1);
throttle_right = constrain_float(_throttle - _rudder*0.5, 0, 1);
case SPOOL_DOWN: {
throttle = _spin_min + throttle * (1 - _spin_min);
throttle_left = constrain_float(throttle + _rudder*0.5, 0, 1);
throttle_right = constrain_float(throttle - _rudder*0.5, 0, 1);
// initialize limits flags
limit.roll_pitch = false;
limit.yaw = false;
limit.throttle_lower = false;
limit.throttle_upper = false;
break;
}
}
// outputs are setup here, and written to the HAL by the plane servos loop
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, _aileron*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, _elevator*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, _rudder*SERVO_OUTPUT_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, _throttle*THROTTLE_RANGE);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle*THROTTLE_RANGE);
// also support differential roll with twin motors
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_left*THROTTLE_RANGE);