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Plane: improved quadplane auto-land into wind

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when heading is strong we need to ramp up pitch limit slowly to
prevent a big dive
This commit is contained in:
Andrew Tridgell 2021-05-18 15:17:19 +10:00
parent b4992cc226
commit ddfc9e8300
1 changed files with 5 additions and 10 deletions
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15
ArduPlane/quadplane.cpp
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@ -2631,14 +2631,11 @@ void QuadPlane::vtol_position_controller(void)
to prevent inability to progress to position if moving from a loiter
to landing
*/
float minlimit = linear_interpolate(-aparm.angle_max, -300,
speed_towards_target,
wp_nav->get_default_speed_xy() * 0.01,
wp_nav->get_default_speed_xy() * 0.015);
float pitch_limit_cd = linear_interpolate(minlimit, plane.aparm.pitch_limit_min_cd,
plane.auto_state.wp_proportion, 0, 1);
if (plane.nav_pitch_cd < pitch_limit_cd) {
plane.nav_pitch_cd = pitch_limit_cd;
float minlimit_cd = linear_interpolate(-300, MAX(-aparm.angle_max,plane.aparm.pitch_limit_min_cd),
poscontrol.time_since_state_start_ms(),
0, 5000);
if (plane.nav_pitch_cd < minlimit_cd) {
plane.nav_pitch_cd = minlimit_cd;
// tell the pos controller we have limited the pitch to
// stop integrator buildup
pos_control->set_externally_limited_xy();
@ -3746,7 +3743,6 @@ uint16_t QuadPlane::get_pilot_velocity_z_max_dn() const
*/
bool QuadPlane::use_fw_attitude_controllers(void) const
{
#if 1
if (available() &&
motors->armed() &&
motors->get_desired_spool_state() >= AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED &&
@ -3756,7 +3752,6 @@ bool QuadPlane::use_fw_attitude_controllers(void) const
// multicopter rates
return false;
}
#endif
return true;
}