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Plane: constrain tilt range for vectored yaw 

this prevents a case where we can demand unlimited vectored yaw,
leading to loss of control

this was particularly noticible before the fix in #23023 - if you
armed for a 2nd time in QHOVER after moving the throttle above 10% so
throttle_wait was cleared then the motors would try to tilt fully so
one motor is in fwd flight position. This would cause a prop strike
while on the ground
This commit is contained in:
Andrew Tridgell 2023-02-24 20:38:26 +11:00
parent 38d7bcff6b
commit a0634d8b5b
1 changed files with 8 additions and 1 deletions
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9
ArduPlane/tiltrotor.cpp
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@ -581,7 +581,14 @@ void Tiltrotor::vectoring(void)
// we need to use the same factor here to keep the same roll
// gains when tilted as we have when not tilted
const float avg_roll_factor = 0.5;
const float tilt_offset = (throttle_scaler * yaw_out * cos_tilt + avg_roll_factor * roll_out * sin_tilt) * yaw_range;
float tilt_scale = throttle_scaler * yaw_out * cos_tilt + avg_roll_factor * roll_out * sin_tilt;
if (fabsf(tilt_scale) > 1.0) {
tilt_scale = constrain_float(tilt_scale, -1.0, 1.0);
motors->limit.yaw = true;
}
const float tilt_offset = tilt_scale * yaw_range;
float left_tilt = base_output + tilt_offset;
float right_tilt = base_output - tilt_offset;