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Plane: Restructure throttle scaling and pitch limiting to enable logging

This commit is contained in:
Paul Riseborough 2023-09-13 22:17:09 +10:00 committed by Andrew Tridgell
parent fb7c383946
commit fa5aef050c
1 changed files with 11 additions and 11 deletions
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22
ArduPlane/quadplane.cpp
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@ -2980,7 +2980,6 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
q_fwd_pitch_lim_cd = 100.0f * q_fwd_pitch_lim;
return;
}
// 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));
@ -2998,22 +2997,23 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
q_fwd_pitch_lim_cd = (float)aparm.angle_max;
}
float nav_pitch_lower_limit_cd;
float fwd_thr_scaler;
if (!in_vtol_land_approach()) {
// To prevent forward motor prop strike, reduce throttle to zero when close to ground.
float alt_cutoff = MAX(0,vel_forward_alt_cutoff);
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
fwd_thr_scaler = linear_interpolate(0.0f, 1.0f, height_above_ground, alt_cutoff, alt_cutoff+2);
} else {
// When we are doing horizontal positioning in a VTOL land we always allow the fwd motor
// to run. Otherwise a bad height above landing point estimate could cause the aircraft
// not to be able to approach the landing point
float alt_cutoff = MAX(0,vel_forward_alt_cutoff);
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
float fwd_thr_scaler = linear_interpolate(0.0f, 1.0f, height_above_ground, alt_cutoff, alt_cutoff+2);
q_fwd_throttle *= fwd_thr_scaler;
// When reducing forward throttle use, relax forward pitch limit to maintain forward
// acceleration capability.
nav_pitch_lower_limit_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + q_fwd_pitch_lim_cd * fwd_thr_scaler);
} else {
nav_pitch_lower_limit_cd = - q_fwd_pitch_lim_cd;
fwd_thr_scaler = 1.0f;
}
q_fwd_throttle *= fwd_thr_scaler;
// When reducing forward throttle use, relax lower pitch limit to maintain forward
// acceleration capability.
const float nav_pitch_lower_limit_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + q_fwd_pitch_lim_cd * fwd_thr_scaler);
plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);
}