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Plane: limit ATC_MOT_MIX_MAX in case of a fly away

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Leonard Hall 2019-06-18 01:28:17 +09:30 committed by Randy Mackay
parent e7f94fc810
commit 87b49c64f8
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -1567,7 +1567,7 @@ void QuadPlane::update_transition(void)
plane.rollController.reset_I(); plane.rollController.reset_I();
// give full authority to attitude control // give full authority to attitude control
attitude_control->set_throttle_mix_max(); attitude_control->set_throttle_mix_max(1.0f);
break; break;
} }
@ -3099,7 +3099,7 @@ void QuadPlane::update_throttle_thr_mix(void)
bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f; bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;
if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) { if ( large_angle_request || large_angle_error || accel_moving || descent_not_demanded) {
attitude_control->set_throttle_mix_max(); attitude_control->set_throttle_mix_max(1.0);
} else { } else {
attitude_control->set_throttle_mix_min(); attitude_control->set_throttle_mix_min();
} }