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Plane: limit bodyframe roll mode to tailsitters

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Mark Whitehorn 2019-04-27 14:03:37 -06:00 committed by Andrew Tridgell
parent ce1a082956
commit dd50d435ab
1 changed files with 12 additions and 6 deletions
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18
ArduPlane/quadplane.cpp
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@ -771,7 +771,8 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
{
check_attitude_relax();
if (in_vtol_mode() || is_tailsitter()) {
// tailsitter-only bodyframe roll control options
if (is_tailsitter()) {
if (tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_M) {
// Angle mode attitude control for pitch and body-frame roll, rate control for yaw.
// this version interprets the first argument as yaw rate and the third as roll angle
@ -781,16 +782,21 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
attitude_control->input_euler_rate_yaw_euler_angle_pitch_bf_roll_m(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
return;
} else if (tailsitter.input_type == TAILSITTER_INPUT_BF_ROLL_P) {
attitude_control->input_euler_rate_yaw_euler_angle_pitch_bf_roll_p(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
} else {
// use euler angle attitude control
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
return;
}
}
// normal control modes for VTOL and FW flight
if (in_vtol_mode() || is_tailsitter()) {
// use euler angle attitude control
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
} else {
// use the fixed wing desired rates
float roll_rate = plane.rollController.get_pid_info().desired;