Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-18 06:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: tailsitters in Qassist inherit motor state

Browse Source
This commit is contained in:
Iampete1 2020-08-24 17:44:50 +01:00 committed by Andrew Tridgell
parent d0e885764d
commit b61cf72b8c
2 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduPlane/mode.cpp
View File

@ -86,3 +86,17 @@ bool Mode::enter()
return enter_result; return enter_result;
} }
bool Mode::is_vtol_man_throttle() const
{
if (!plane.quadplane.in_vtol_mode() &&
plane.quadplane.is_tailsitter() &&
plane.quadplane.tailsitter_transition_fw_complete() &&
plane.quadplane.assisted_flight) {
// a tailsitter that has fully transisisoned to Q-assisted forward flight
// in this case the forward throttle directly drives the vertical throttle
// set vertical throttle state to match the forward throttle state. Confusingly the booleans are inverted,
// forward throttle uses 'auto_throttle_mode' whereas vertical used 'is_vtol_man_throttle'
return !plane.auto_throttle_mode;
}
return false;
}

2
ArduPlane/mode.h
View File

@ -71,7 +71,7 @@ public:
// true for all q modes // true for all q modes
virtual bool is_vtol_mode() const { return false; } virtual bool is_vtol_mode() const { return false; }
virtual bool is_vtol_man_throttle() const { return false; } virtual bool is_vtol_man_throttle() const;
virtual bool is_vtol_man_mode() const { return false; } virtual bool is_vtol_man_mode() const { return false; }
// guided or adsb mode // guided or adsb mode
virtual bool is_guided_mode() const { return false; } virtual bool is_guided_mode() const { return false; }