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AP_Motors: reserve collective range for attitude control

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This commit is contained in:
Andrew Tridgell 2017-08-28 11:34:37 +10:00
parent 951ed95eb9
commit a7713da703
1 changed files with 5 additions and 0 deletions
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libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -239,6 +239,8 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
limit.throttle_lower = true;
}
float collective_range = (_collective_max - _collective_min) / 1000.0f;
if (_heliflags.inverted_flight) {
collective_out = 1 - collective_out;
}
@ -249,6 +251,9 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
// scale collective to -1 to 1
collective_out = collective_out*2-1;
// reserve some collective for attitude control
collective_out *= collective_range;
if (collective_out < 0) {
// with negative collective yaw torque is reversed
yaw_out = -yaw_out;