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Plane: don't apply fw pitch limit in VTOL control for tailsitters

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tailsitters may have narrow fixed wing limits but need high limits for
landing in high wind

found this on a HWing which was essentially impossible to auto land
This commit is contained in:
Andrew Tridgell 2021-10-09 19:33:47 +11:00 committed by Randy Mackay
parent 8ea702ed81
commit ca753d4814
1 changed files with 21 additions and 19 deletions
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2
ArduPlane/quadplane.cpp
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@ -2850,6 +2850,7 @@ void QuadPlane::vtol_position_controller(void)
plane.nav_roll_cd = pos_control->get_roll_cd(); plane.nav_roll_cd = pos_control->get_roll_cd();
plane.nav_pitch_cd = pos_control->get_pitch_cd(); plane.nav_pitch_cd = pos_control->get_pitch_cd();
if (!is_tailsitter()) {
/* /*
limit the pitch down with an expanding envelope. This limit the pitch down with an expanding envelope. This
prevents the velocity controller demanding nose down during prevents the velocity controller demanding nose down during
@ -2870,6 +2871,7 @@ void QuadPlane::vtol_position_controller(void)
// stop integrator buildup // stop integrator buildup
pos_control->set_externally_limited_xy(); pos_control->set_externally_limited_xy();
} }
}
// call attitude controller // call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd, attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,