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Plane: Quadplane: never run Z controller in tailsiter VTOL transtion

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Peter Hall 2021-11-10 02:17:31 +00:00 committed by Andrew Tridgell
parent 9df753551e
commit c215fa0745
1 changed files with 4 additions and 0 deletions
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4
ArduPlane/quadplane.cpp
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@ -885,6 +885,10 @@ void QuadPlane::hold_stabilize(float throttle_in)
void QuadPlane::run_z_controller(void) void QuadPlane::run_z_controller(void)
{ {
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (tailsitter.in_vtol_transition(now)) {
// never run Z controller in tailsitter transtion
return;
}
if (!pos_control->is_active_z()) { if (!pos_control->is_active_z()) {
// set vertical speed and acceleration limits // set vertical speed and acceleration limits
pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z); pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);