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Plane: Fix tilt rotor surging during high speed QLOITER flight

This commit is contained in:
Paul Riseborough 2023-09-28 14:19:50 +10:00 committed by Andrew Tridgell
parent dcfffefa07
commit d14a88b378
1 changed files with 18 additions and 15 deletions
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33
ArduPlane/quadplane.cpp
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@ -3007,21 +3007,24 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
// Relax forward tilt limit if the position controller is saturating in the forward direction because
// the forward thrust motor could be failed
const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
if (is_positive(fwd_tilt_range_cd)) {
// rate limit the forward tilt change to slew between the motor good and motor failed
// value over 10 seconds
const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
// Don't let the forward pitch limit be more than the forward pitch demand before limiting to
// avoid opening up the limit more than necessary
q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
} else {
// take the lesser of the two limits
q_fwd_pitch_lim_cd = (float)aparm.angle_max;
// the forward thrust motor could be failed. Do not do this with tilt rotors because they do not rely on
// forward throttle during VTOL flight
if (!tiltrotor.enabled()) {
const float fwd_tilt_range_cd = (float)aparm.angle_max - 100.0f * q_fwd_pitch_lim;
if (is_positive(fwd_tilt_range_cd)) {
// rate limit the forward tilt change to slew between the motor good and motor failed
// value over 10 seconds
const bool fwd_limited = plane.quadplane.pos_control->is_active_xy() and plane.quadplane.pos_control->get_fwd_pitch_is_limited();
const float fwd_pitch_lim_cd_tgt = fwd_limited ? (float)aparm.angle_max : 100.0f * q_fwd_pitch_lim;
const float delta_max = 0.1f * fwd_tilt_range_cd * plane.G_Dt;
q_fwd_pitch_lim_cd += constrain_float((fwd_pitch_lim_cd_tgt - q_fwd_pitch_lim_cd), -delta_max, delta_max);
// Don't let the forward pitch limit be more than the forward pitch demand before limiting to
// avoid opening up the limit more than necessary
q_fwd_pitch_lim_cd = MIN(q_fwd_pitch_lim_cd, MAX(-(float)plane.nav_pitch_cd, 100.0f * q_fwd_pitch_lim));
} else {
// take the lesser of the two limits
q_fwd_pitch_lim_cd = (float)aparm.angle_max;
}
}
float fwd_thr_scaler;