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Plane: Allow non positive values of Q_FWD_PIT_LIM to be used

This commit is contained in:
Paul Riseborough 2023-08-20 20:28:55 +10:00 committed by Andrew Tridgell
parent e866998b21
commit 8988de3c7c
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/quadplane.cpp
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@ -2923,11 +2923,11 @@ void QuadPlane::vtol_position_controller(void)
}
void QuadPlane::assign_tilt_to_fwd_thr(void) {
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_pitch_lim)) {
if (is_positive(q_fwd_thr_gain)) {
// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
// and are using the forward thrust motor or tilting rotors to provide the forward acceleration
float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
q_fwd_nav_pitch_lim_cd = (int32_t)MIN(-100.0f * q_fwd_pitch_lim, 0.0f);
q_fwd_nav_pitch_lim_cd = (int32_t)(-100.0f * q_fwd_pitch_lim);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, q_fwd_nav_pitch_lim_cd);
q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
@ -3594,7 +3594,7 @@ float QuadPlane::forward_throttle_pct()
// handle special case where forward thrust motor is used instead of forward pitch.
// but not in autotune as it will upset the results
#if QAUTOTUNE_ENABLED
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_pitch_lim) && plane.control_mode != &plane.mode_qautotune) {
if (is_positive(q_fwd_thr_gain) && plane.control_mode != &plane.mode_qautotune) {
#else
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_thr_gain)) {
#endif