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Plane: extend QLOITER transition pitch limit

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use twice transition time for pitch envelope to reduce QLOITER
transition harshness
This commit is contained in:
Andrew Tridgell 2017-11-05 21:35:32 +11:00
parent bbf98fae46
commit 957c1f6d23
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -1017,11 +1017,11 @@ void QuadPlane::control_loiter()
plane.nav_pitch_cd = wp_nav->get_pitch(); plane.nav_pitch_cd = wp_nav->get_pitch();
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_pidz_init_ms < (uint32_t)transition_time_ms && !is_tailsitter()) { if (now - last_pidz_init_ms < (uint32_t)transition_time_ms*2 && !is_tailsitter()) {
// we limit pitch during initial transition // we limit pitch during initial transition
float pitch_limit_cd = linear_interpolate(loiter_initial_pitch_cd, aparm.angle_max, float pitch_limit_cd = linear_interpolate(loiter_initial_pitch_cd, aparm.angle_max,
now, now,
last_pidz_init_ms, last_pidz_init_ms+transition_time_ms); last_pidz_init_ms, last_pidz_init_ms+transition_time_ms*2);
if (plane.nav_pitch_cd > pitch_limit_cd) { if (plane.nav_pitch_cd > pitch_limit_cd) {
plane.nav_pitch_cd = pitch_limit_cd; plane.nav_pitch_cd = pitch_limit_cd;
pos_control->set_limit_accel_xy(); pos_control->set_limit_accel_xy();