mirror of https://github.com/ArduPilot/ardupilot
Plane: tiltrottor: add missing ff terms
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@ -407,7 +407,7 @@ void Tiltrotor::tilt_compensate_angle(float *thrust, uint8_t num_motors, float n
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// but moves us to no roll control as the angle increases
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// but moves us to no roll control as the angle increases
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thrust[i] = current_tilt * avg_tilt_thrust + thrust[i] * (1-current_tilt);
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thrust[i] = current_tilt * avg_tilt_thrust + thrust[i] * (1-current_tilt);
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// add in differential thrust for yaw control, scaled by tilt angle
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// add in differential thrust for yaw control, scaled by tilt angle
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const float diff_thrust = motors->get_roll_factor(i) * motors->get_yaw() * sin_tilt * yaw_gain;
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const float diff_thrust = motors->get_roll_factor(i) * (motors->get_yaw()+motors->get_yaw_ff()) * sin_tilt * yaw_gain;
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thrust[i] += diff_thrust;
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thrust[i] += diff_thrust;
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largest_tilted = MAX(largest_tilted, thrust[i]);
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largest_tilted = MAX(largest_tilted, thrust[i]);
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}
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}
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@ -528,8 +528,8 @@ void Tiltrotor::vectoring(void)
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight,1000 * constrain_float(base_output + right,0,1));
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRearRight,1000 * constrain_float(base_output + right,0,1));
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output + mid,0,1));
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SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRear, 1000 * constrain_float(base_output + mid,0,1));
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} else {
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} else {
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const float yaw_out = motors->get_yaw();
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const float yaw_out = motors->get_yaw()+motors->get_yaw_ff();
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const float roll_out = motors->get_roll();
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const float roll_out = motors->get_roll()+motors->get_roll_ff();
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float yaw_range = zero_out;
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float yaw_range = zero_out;
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// now apply vectored thrust for yaw and roll.
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// now apply vectored thrust for yaw and roll.
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