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Plane: fixed an attitude control bug in quadplane transition

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The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
This commit is contained in:
Andrew Tridgell 2016-06-10 17:35:43 +10:00
parent 69f29b51d1
commit 07564aa03f
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/quadplane.cpp
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@ -937,7 +937,8 @@ void QuadPlane::update_transition(void)
transition_state = TRANSITION_DONE;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Transition done");
}
float throttle_scaled = last_throttle * (transition_time_ms - (millis() - transition_start_ms)) / (float)transition_time_ms;
float trans_time_ms = (float)transition_time_ms.get();
float throttle_scaled = last_throttle * (trans_time_ms - (millis() - transition_start_ms)) / trans_time_ms;
if (throttle_scaled < 0) {
throttle_scaled = 0;
}