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Plane: tailsitter.input_type bugfix

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Mark Whitehorn 2021-03-09 09:05:25 -07:00 committed by Andrew Tridgell
parent c1f56c4b22
commit c2ad2d6090
1 changed files with 8 additions and 3 deletions
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11
ArduPlane/mode_qstabilize.cpp
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@ -15,10 +15,15 @@ bool ModeQStabilize::_enter()
void ModeQStabilize::update() void ModeQStabilize::update()
{ {
// set nav_roll and nav_pitch using sticks // set nav_roll and nav_pitch using sticks
// Scale from normalized input [-1,1] to target angles in centidegrees // Beware that QuadPlane::tailsitter_check_input (called from Plane::read_radio)
const float roll_input = plane.channel_roll->norm_input(); // may alter the control_in values for roll and yaw, but not the corresponding
const float pitch_input = plane.channel_pitch->norm_input(); // radio_in values. This means that the results for norm_input would not necessarily
// be correct for tailsitters, so get_control_in() must be used instead.
// normalize control_input to [-1,1]
const float roll_input = (float)plane.channel_roll->get_control_in() / plane.channel_roll->get_range();
const float pitch_input = (float)plane.channel_pitch->get_control_in() / plane.channel_pitch->get_range();
// then scale to target angles in centidegrees
if (plane.quadplane.tailsitter_active()) { if (plane.quadplane.tailsitter_active()) {
// tailsitters are different // tailsitters are different
set_tailsitter_roll_pitch(roll_input, pitch_input); set_tailsitter_roll_pitch(roll_input, pitch_input);