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Plane: cope with Q pitch limit larger than fixed wing limit

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prevents tailsitter VTOL transition timeout due to not achieving angle
This commit is contained in:
Andrew Tridgell 2021-05-15 08:14:06 +10:00
parent 71fa52d5c6
commit 74da3c74ac
1 changed files with 4 additions and 1 deletions
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5
ArduPlane/tailsitter.cpp
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@ -278,7 +278,10 @@ bool QuadPlane::tailsitter_transition_vtol_complete(void) const
return true; return true;
} }
} }
const float trans_angle = get_tailsitter_transition_angle_vtol(); // limit completion angle to just below fixed wing pitch limit
const float margin_deg = 3;
const float trans_angle = MIN(get_tailsitter_transition_angle_vtol(),
plane.aparm.pitch_limit_max_cd*0.01-margin_deg);
if (labs(plane.ahrs.pitch_sensor) > trans_angle*100) { if (labs(plane.ahrs.pitch_sensor) > trans_angle*100) {
gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done"); gcs().send_text(MAV_SEVERITY_INFO, "Transition VTOL done");
return true; return true;