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Plane: tiltrottor: add missing ff terms

This commit is contained in:
Iampete1 2021-12-08 22:41:39 +00:00 committed by Randy Mackay
parent ea4c929c50
commit 8aa4a802f3
1 changed files with 3 additions and 3 deletions
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6
ArduPlane/tiltrotor.cpp
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@ -407,7 +407,7 @@ void Tiltrotor::tilt_compensate_angle(float *thrust, uint8_t num_motors, float n
// but moves us to no roll control as the angle increases
thrust[i] = current_tilt * avg_tilt_thrust + thrust[i] * (1-current_tilt);
// add in differential thrust for yaw control, scaled by tilt angle
const float diff_thrust = motors->get_roll_factor(i) * motors->get_yaw() * sin_tilt * yaw_gain;
const float diff_thrust = motors->get_roll_factor(i) * (motors->get_yaw()+motors->get_yaw_ff()) * sin_tilt * yaw_gain;
thrust[i] += diff_thrust;
largest_tilted = MAX(largest_tilted, thrust[i]);
}
@ -528,8 +528,8 @@ void Tiltrotor::vectoring(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight,1000 * constrain_float(base_output + right,0,1));
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output + mid,0,1));
} else {
const float yaw_out = motors->get_yaw();
const float roll_out = motors->get_roll();
const float yaw_out = motors->get_yaw()+motors->get_yaw_ff();
const float roll_out = motors->get_roll()+motors->get_roll_ff();
float yaw_range = zero_out;
// now apply vectored thrust for yaw and roll.