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

Plane: don't reset yaw target in TRANSITION_TIMER for tilt-vectored quadplanes

Browse Source
This commit is contained in:
Andrew Tridgell 2020-12-15 08:47:46 +11:00
parent 4dc5162d0a
commit abd5f8351d
2 changed files with 12 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
ArduPlane/quadplane.cpp
View File

@ -736,9 +736,9 @@ bool QuadPlane::setup(void)
AP_BoardConfig::config_error("unknown Q_FRAME_TYPE %u", (unsigned)frame_type.get());
}
if (motors_var_info == AP_MotorsMatrix::var_info &&
tilt.tilt_mask != 0 &&
tilt.tilt_type == TILT_TYPE_VECTORED_YAW) {
tilt.is_vectored = tilt.tilt_mask != 0 && tilt.tilt_type == TILT_TYPE_VECTORED_YAW;
if (motors_var_info == AP_MotorsMatrix::var_info && tilt.is_vectored) {
// we will be using vectoring for yaw
motors->disable_yaw_torque();
}
@ -1737,9 +1737,7 @@ void QuadPlane::update_transition(void)
}
hold_hover(climb_rate_cms);
if (tilt.tilt_mask == 0 ||
tilt.tilt_type != TILT_TYPE_VECTORED_YAW ||
now - transition_start_ms < 100) {
if (!tilt.is_vectored || now - transition_start_ms < 100) {
// set desired yaw to current yaw in both desired angle
// and rate request. This reduces wing twist in transition
// due to multicopter yaw demands. This is disabled when
@ -1794,9 +1792,13 @@ void QuadPlane::update_transition(void)
// set desired yaw to current yaw in both desired angle and
// rate request while waiting for transition to
// complete. Navigation should be controlled by fixed wing
// control surfaces at this stage
attitude_control->set_yaw_target_to_current_heading();
attitude_control->rate_bf_yaw_target(ahrs.get_gyro().z);
// control surfaces at this stage.
// We disable this for vectored yaw tilt rotors as they do need active
// yaw control throughout the transition
if (!tilt.is_vectored) {
attitude_control->set_yaw_target_to_current_heading();
attitude_control->rate_bf_yaw_target(ahrs.get_gyro().z);
}
break;
}

1
ArduPlane/quadplane.h
View File

@ -481,6 +481,7 @@ private:
float current_throttle;
bool motors_active:1;
float transition_yaw;
bool is_vectored;
} tilt;
// bit 0 enables plane mode and bit 1 enables body-frame roll mode