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Plane: Rename q_fwd_tilt_lim to q_fwd_pitch_lim

This commit is contained in:
Paul Riseborough 2023-08-20 20:22:23 +10:00 committed by Andrew Tridgell
parent c15bb3f1e3
commit e866998b21
2 changed files with 5 additions and 5 deletions
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8
ArduPlane/quadplane.cpp
View File

@ -520,7 +520,7 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Range: 0.0 5.0
// @Increment: 10
// @User: Standard
AP_GROUPINFO("FWD_PIT_LIM", 36, QuadPlane, q_fwd_tilt_lim, 3.0f),
AP_GROUPINFO("FWD_PIT_LIM", 36, QuadPlane, q_fwd_pitch_lim, 3.0f),
AP_GROUPEND
};
@ -2923,11 +2923,11 @@ void QuadPlane::vtol_position_controller(void)
}
void QuadPlane::assign_tilt_to_fwd_thr(void) {
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_tilt_lim)) {
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_pitch_lim)) {
// Handle the case where we are limiting the forward pitch angle to prevent negative wing lift
// and are using the forward thrust motor or tilting rotors to provide the forward acceleration
float fwd_tilt_rad = radians(constrain_float(-0.01f * (float)plane.nav_pitch_cd, 0.0f, 45.0f));
q_fwd_nav_pitch_lim_cd = (int32_t)MIN(-100.0f * q_fwd_tilt_lim, 0.0f);
q_fwd_nav_pitch_lim_cd = (int32_t)MIN(-100.0f * q_fwd_pitch_lim, 0.0f);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, q_fwd_nav_pitch_lim_cd);
q_fwd_throttle = MIN(q_fwd_thr_gain * tanf(fwd_tilt_rad), 1.0f);
@ -3594,7 +3594,7 @@ float QuadPlane::forward_throttle_pct()
// handle special case where forward thrust motor is used instead of forward pitch.
// but not in autotune as it will upset the results
#if QAUTOTUNE_ENABLED
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_tilt_lim) && plane.control_mode != &plane.mode_qautotune) {
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_pitch_lim) && plane.control_mode != &plane.mode_qautotune) {
#else
if (is_positive(q_fwd_thr_gain) && is_positive(q_fwd_thr_gain)) {
#endif

2
ArduPlane/quadplane.h
View File

@ -399,7 +399,7 @@ private:
AP_Float q_fwd_thr_gain;
// limit applied to forward pitch to prevent wing producing negative lift
AP_Float q_fwd_tilt_lim;
AP_Float q_fwd_pitch_lim;
// time we last got an EKF yaw reset
uint32_t ekfYawReset_ms;