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

Plane: start with low integrator on back quadplane transition

Browse Source 
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
This commit is contained in:
Andrew Tridgell 2016-06-25 06:27:56 +10:00
parent 37f990bfad
commit 66e43bf6a2
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduPlane/quadplane.cpp
View File

@ -1215,6 +1215,15 @@ void QuadPlane::vtol_position_controller(void)
// max_speed will control how fast we will fly. It will always decrease
poscontrol.max_speed = MAX(speed_towards_target, wp_nav->get_speed_xy() * 0.01);
poscontrol.speed_scale = poscontrol.max_speed / MAX(distance, 1);
// start with low integrator. The alt_hold controller will
// add hover throttle to initial integrator. By starting
// without it we end up with a smoother startup when
// transitioning from fixed wing flight
float aspeed;
if (ahrs.airspeed_estimate(&aspeed) && aspeed > 6) {
pid_accel_z.set_integrator((-motors->get_throttle_hover())*1000.0f);
}
}
// run fixed wing navigation