aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: prevent stability shutdown in transition

Browse Source 
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
This commit is contained in:
Andrew Tridgell 2017-01-24 17:59:28 +11:00
parent 0d4405106f
commit 07cedd8a66
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduPlane/quadplane.cpp
View File

@ -1065,8 +1065,10 @@ void QuadPlane::update_transition(void)
}
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;
if (throttle_scaled < 0.01) {
// ensure we don't drop all the way to zero or the motors
// will stop stabilizing
throttle_scaled = 0.01;
}
assisted_flight = true;
hold_stabilize(throttle_scaled);