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Plane: added scaling for Q_TAILSIT_VFGAIN

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this scales the vectoring in fixed wing flight to remove the impact of
surface speed scaling and add throttle scaling
This commit is contained in:
Andrew Tridgell 2021-01-04 07:43:53 +11:00
parent a0fcef6ceb
commit 96c2a5c77c
1 changed files with 4 additions and 2 deletions
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6
ArduPlane/tailsitter.cpp
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@ -108,11 +108,13 @@ void QuadPlane::tailsitter_output(void)
// in forward flight: set motor tilt servos and throttles using FW controller
if (tailsitter.vectored_forward_gain > 0) {
// remove scaling from surface speed scaling and apply throttle scaling
const float scaler = plane.control_mode == &plane.mode_manual?1:(tilt_throttle_scaling() / plane.get_speed_scaler());
// thrust vectoring in fixed wing flight
float aileron = SRV_Channels::get_output_scaled(SRV_Channel::k_aileron);
float elevator = SRV_Channels::get_output_scaled(SRV_Channel::k_elevator);
tilt_left = (elevator + aileron) * tailsitter.vectored_forward_gain;
tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain;
tilt_left = (elevator + aileron) * tailsitter.vectored_forward_gain * scaler;
tilt_right = (elevator - aileron) * tailsitter.vectored_forward_gain * scaler;
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt_right);