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Plane: don't weathervane in AIRBRAKE state 

this prevents unwanted VTOL motor throttle while trying to slow
down. In this stage the slaving of yaw rate to fixed wing roll control
is sufficient
This commit is contained in:
Andrew Tridgell 2022-01-29 17:04:14 +11:00
parent 2846f87eeb
commit aab6c94936
2 changed files with 9 additions and 6 deletions
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13
ArduPlane/quadplane.cpp
View File

@ -874,7 +874,7 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
void QuadPlane::hold_stabilize(float throttle_in)
{
// call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
if ((throttle_in <= 0) && !air_mode_active()) {
set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
@ -960,7 +960,7 @@ void QuadPlane::hold_hover(float target_climb_rate_cms)
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
// call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
multicopter_attitude_rate_update(get_desired_yaw_rate_cds(false));
// call position controller
set_climb_rate_cms(target_climb_rate_cms, false);
@ -1201,7 +1201,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
/*
get overall desired yaw rate in cd/s
*/
float QuadPlane::get_desired_yaw_rate_cds(void)
float QuadPlane::get_desired_yaw_rate_cds(bool should_weathervane)
{
float yaw_cds = 0;
if (assisted_flight) {
@ -1215,8 +1215,11 @@ float QuadPlane::get_desired_yaw_rate_cds(void)
}
// add in pilot input
yaw_cds += get_pilot_input_yaw_rate_cds();
// add in weathervaning
yaw_cds += get_weathervane_yaw_rate_cds();
if (should_weathervane) {
// add in weathervaning
yaw_cds += get_weathervane_yaw_rate_cds();
}
return yaw_cds;
}

2
ArduPlane/quadplane.h
View File

@ -216,7 +216,7 @@ private:
float get_pilot_input_yaw_rate_cds(void) const;
// get overall desired yaw rate in cd/s
float get_desired_yaw_rate_cds(void);
float get_desired_yaw_rate_cds(bool weathervane=true);
// get desired climb rate in cm/s
float get_pilot_desired_climb_rate_cms(void) const;