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AP_Motors: change internal variable names and methods for mid collective to be more accurate

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This commit is contained in:
Bill Geyer 2021-10-29 08:43:52 -04:00 committed by Bill Geyer
parent 3926b56df0
commit d2c37daa66
6 changed files with 49 additions and 49 deletions
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34
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -110,36 +110,36 @@ const AP_Param::GroupInfo AP_MotorsHeli::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("OPTIONS", 28, AP_MotorsHeli, _heli_options, (uint8_t)HeliOption::USE_LEAKY_I), AP_GROUPINFO("OPTIONS", 28, AP_MotorsHeli, _heli_options, (uint8_t)HeliOption::USE_LEAKY_I),
// @Param: COL_MIN_DEG // @Param: COL_ANG_MIN
// @DisplayName: Minimum Collective Blade Pitch Angle // @DisplayName: Collective Blade Pitch Angle Minimum
// @Description: Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN). // @Description: Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).
// @Range: -20 0 // @Range: -20 0
// @Units: deg // @Units: deg
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("COL_MIN_DEG", 29, AP_MotorsHeli, _collective_min_deg, AP_MOTORS_HELI_COLLECTIVE_MIN_DEG), AP_GROUPINFO("COL_ANG_MIN", 29, AP_MotorsHeli, _collective_min_deg, AP_MOTORS_HELI_COLLECTIVE_MIN_DEG),
// @Param: COL_MAX_DEG // @Param: COL_ANG_MAX
// @DisplayName: Maximum Collective Blade Pitch Angle // @DisplayName: Collective Blade Pitch Angle Maximum
// @Description: Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX). // @Description: Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).
// @Range: 5 20 // @Range: 5 20
// @Units: deg // @Units: deg
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("COL_MAX_DEG", 30, AP_MotorsHeli, _collective_max_deg, AP_MOTORS_HELI_COLLECTIVE_MAX_DEG), AP_GROUPINFO("COL_ANG_MAX", 30, AP_MotorsHeli, _collective_max_deg, AP_MOTORS_HELI_COLLECTIVE_MAX_DEG),
// @Param: COL_ZERO_THRST // @Param: COL_ZERO_THRST
// @DisplayName: Zero-Thrust Collective Pitch // @DisplayName: Collective Blade Pitch at Zero Thrust
// @Description: Zero thrust blade collective pitch in degrees. // @Description: Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.
// @Range: -5 0 // @Range: -5 0
// @Units: deg // @Units: deg
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("COL_ZERO_THRST", 31, AP_MotorsHeli, _collective_zero_thrst_deg, 0.0f), AP_GROUPINFO("COL_ZERO_THRST", 31, AP_MotorsHeli, _collective_zero_thrust_deg, 0.0f),
// @Param: COL_LAND_MIN // @Param: COL_LAND_MIN
// @DisplayName: Minimum Landed Collective Blade Pitch // @DisplayName: Collective Blade Pitch Minimum when Landed
// @Description: Minimum Landed collective blade pitch in degrees for non-manual collective modes (i.e. modes that use altitude hold). // @Description: Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).
// @Range: -5 0 // @Range: -5 0
// @Units: deg // @Units: deg
// @Increment: 0.1 // @Increment: 0.1
@ -282,7 +282,7 @@ void AP_MotorsHeli::output_disarmed()
// fixate mid collective // fixate mid collective
_roll_in = 0.0f; _roll_in = 0.0f;
_pitch_in = 0.0f; _pitch_in = 0.0f;
_throttle_filter.reset(_collective_zero_pct); _throttle_filter.reset(_collective_zero_thrust_pct);
_yaw_in = 0.0f; _yaw_in = 0.0f;
break; break;
case SERVO_CONTROL_MODE_MANUAL_MAX: case SERVO_CONTROL_MODE_MANUAL_MAX:
@ -496,7 +496,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if _collective_min_deg is not default value which indicates users set parameter // returns false if _collective_min_deg is not default value which indicates users set parameter
if (is_equal((float)_collective_min_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MIN_DEG)) { if (is_equal((float)_collective_min_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MIN_DEG)) {
if (display_msg) { if (display_msg) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_MIN_DEG to actual min blade pitch in deg"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_ANG_MIN to measured min blade pitch in deg");
} }
return false; return false;
} }
@ -504,7 +504,7 @@ bool AP_MotorsHeli::parameter_check(bool display_msg) const
// returns false if _collective_max_deg is not default value which indicates users set parameter // returns false if _collective_max_deg is not default value which indicates users set parameter
if (is_equal((float)_collective_max_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MAX_DEG)) { if (is_equal((float)_collective_max_deg, (float)AP_MOTORS_HELI_COLLECTIVE_MAX_DEG)) {
if (display_msg) { if (display_msg) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_MAX_DEG to actual max blade pitch in deg"); gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Set H_COL_ANG_MAX to measured max blade pitch in deg");
} }
return false; return false;
} }
@ -563,8 +563,8 @@ void AP_MotorsHeli::update_throttle_hover(float dt)
// Don't let _collective_hover go below H_COLL_ZERO_THRST // Don't let _collective_hover go below H_COLL_ZERO_THRST
float curr_collective = get_throttle(); float curr_collective = get_throttle();
if (curr_collective < _collective_zero_pct) { if (curr_collective < _collective_zero_thrust_pct) {
curr_collective = _collective_zero_pct; curr_collective = _collective_zero_thrust_pct;
} }
// we have chosen to constrain the hover collective to be within the range reachable by the third order expo polynomial. // we have chosen to constrain the hover collective to be within the range reachable by the third order expo polynomial.
@ -584,7 +584,7 @@ void AP_MotorsHeli::save_params_on_disarm()
// updates the takeoff collective flag // updates the takeoff collective flag
void AP_MotorsHeli::update_takeoff_collective_flag(float coll_out) void AP_MotorsHeli::update_takeoff_collective_flag(float coll_out)
{ {
if (coll_out > _collective_zero_pct + 0.5f * (_collective_hover - _collective_zero_pct)) { if (coll_out > _collective_zero_thrust_pct + 0.5f * (_collective_hover - _collective_zero_thrust_pct)) {
_heliflags.takeoff_collective = true; _heliflags.takeoff_collective = true;
} else { } else {
_heliflags.takeoff_collective = false; _heliflags.takeoff_collective = false;

14
libraries/AP_Motors/AP_MotorsHeli.h
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@ -24,7 +24,7 @@
#define AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX 0.8f // maximum possible hover throttle #define AP_MOTORS_HELI_COLLECTIVE_HOVER_MAX 0.8f // maximum possible hover throttle
#define AP_MOTORS_HELI_COLLECTIVE_MIN_DEG -90.0f // minimum collective blade pitch angle in deg #define AP_MOTORS_HELI_COLLECTIVE_MIN_DEG -90.0f // minimum collective blade pitch angle in deg
#define AP_MOTORS_HELI_COLLECTIVE_MAX_DEG 90.0f // maximum collective blade pitch angle in deg #define AP_MOTORS_HELI_COLLECTIVE_MAX_DEG 90.0f // maximum collective blade pitch angle in deg
#define AP_MOTORS_HELI_COLLECTIVE_LAND_MIN -2.0f // minimum landed collective blade pitch angle in deg for modes using althold #define AP_MOTORS_HELI_COLLECTIVE_LAND_MIN -1.0f // minimum landed collective blade pitch angle in deg for modes using althold
// flybar types // flybar types
@ -133,8 +133,8 @@ public:
// accessor to get the takeoff collective flag signifying that current collective is greater than collective required to indicate takeoff // accessor to get the takeoff collective flag signifying that current collective is greater than collective required to indicate takeoff
bool get_takeoff_collective() const { return _heliflags.takeoff_collective; } bool get_takeoff_collective() const { return _heliflags.takeoff_collective; }
// accessor to get the takeoff collective flag signifying that current collective is greater than collective required to indicate takeoff // accessor to get the land min collective flag signifying that current collective is lower than collective required for landing
bool get_below_mid_collective() const { return _heliflags.below_mid_collective; } bool get_below_land_min_coll() const { return _heliflags.below_land_min_coll; }
// support passing init_targets_on_arming flag to greater code // support passing init_targets_on_arming flag to greater code
bool init_targets_on_arming() const override { return _heliflags.init_targets_on_arming; } bool init_targets_on_arming() const override { return _heliflags.init_targets_on_arming; }
@ -249,7 +249,7 @@ protected:
uint8_t servo_test_running : 1; // true if servo_test is running uint8_t servo_test_running : 1; // true if servo_test is running
uint8_t land_complete : 1; // true if aircraft is landed uint8_t land_complete : 1; // true if aircraft is landed
uint8_t takeoff_collective : 1; // true if collective is above 30% between H_COL_MID and H_COL_MAX uint8_t takeoff_collective : 1; // true if collective is above 30% between H_COL_MID and H_COL_MAX
uint8_t below_mid_collective : 1; // true if collective is below H_COL_MID uint8_t below_land_min_coll : 1; // true if collective is below H_COL_LAND_MIN
} _heliflags; } _heliflags;
// parameters // parameters
@ -261,14 +261,14 @@ protected:
AP_Float _collective_hover; // estimated collective required to hover throttle in the range 0 ~ 1 AP_Float _collective_hover; // estimated collective required to hover throttle in the range 0 ~ 1
AP_Int8 _collective_hover_learn; // enable/disabled hover collective learning AP_Int8 _collective_hover_learn; // enable/disabled hover collective learning
AP_Int8 _heli_options; // bitmask for optional features AP_Int8 _heli_options; // bitmask for optional features
AP_Float _collective_zero_thrst_deg; // Zero thrust blade collective pitch in degrees AP_Float _collective_zero_thrust_deg;// Zero thrust blade collective pitch in degrees
AP_Float _collective_land_min_deg; // Minimum Landed collective blade pitch in degrees for non-manual collective modes (i.e. modes that use altitude hold) AP_Float _collective_land_min_deg; // Minimum Landed collective blade pitch in degrees for non-manual collective modes (i.e. modes that use altitude hold)
AP_Float _collective_max_deg; // Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX) AP_Float _collective_max_deg; // Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX)
AP_Float _collective_min_deg; // Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN) AP_Float _collective_min_deg; // Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN)
// internal variables // internal variables
float _collective_zero_pct; // collective mid parameter value converted to 0 ~ 1 range float _collective_zero_thrust_pct; // collective zero thrutst parameter value converted to 0 ~ 1 range
float _collective_land_min_pct; // collective mid parameter value converted to 0 ~ 1 range float _collective_land_min_pct; // collective land min parameter value converted to 0 ~ 1 range
uint8_t _servo_test_cycle_counter = 0; // number of test cycles left to run after bootup uint8_t _servo_test_cycle_counter = 0; // number of test cycles left to run after bootup
motor_frame_type _frame_type; motor_frame_type _frame_type;

18
libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
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@ -375,22 +375,22 @@ void AP_MotorsHeli_Dual::calculate_scalars()
_collective2_max = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX; _collective2_max = AP_MOTORS_HELI_DUAL_COLLECTIVE2_MAX;
} }
_collective_zero_thrst_deg = constrain_float(_collective_zero_thrst_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1
_collective_zero_pct = (_collective_zero_thrst_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_zero_thrust_pct = (_collective_zero_thrust_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
// calculate collective land min point as a number from 0 to 1 // calculate collective land min point as a number from 0 to 1
_collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
} else { } else {
_collective_zero_pct = 0.0f; _collective_zero_thrust_pct = 0.0f;
_collective_land_min_pct = 0.0f; _collective_land_min_pct = 0.0f;
} }
_collective2_zero_pct = _collective_zero_pct; _collective2_zero_thrst_pct = _collective_zero_thrust_pct;
// configure swashplate 1 and update scalars // configure swashplate 1 and update scalars
_swashplate1.configure(); _swashplate1.configure();
@ -576,11 +576,11 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
limit.throttle_lower = true; limit.throttle_lower = true;
} }
// updates below mid collective flag // updates below land min collective flag
if (collective_out <= _collective_land_min_pct) { if (collective_out <= _collective_land_min_pct) {
_heliflags.below_mid_collective = true; _heliflags.below_land_min_coll = true;
} else { } else {
_heliflags.below_mid_collective = false; _heliflags.below_land_min_coll = false;
} }
// updates takeoff collective flag based on 50% hover collective // updates takeoff collective flag based on 50% hover collective
@ -589,7 +589,7 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
// Set rear collective to midpoint if required // Set rear collective to midpoint if required
float collective2_out = collective_out; float collective2_out = collective_out;
if (_servo_mode == SERVO_CONTROL_MODE_MANUAL_CENTER) { if (_servo_mode == SERVO_CONTROL_MODE_MANUAL_CENTER) {
collective2_out = _collective2_zero_pct; collective2_out = _collective2_zero_thrst_pct;
} }
// if servo output not in manual mode, process pre-compensation factors // if servo output not in manual mode, process pre-compensation factors
@ -601,7 +601,7 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
// for intermeshing, reverse yaw in negative collective region and smoothen transition near zero collective // for intermeshing, reverse yaw in negative collective region and smoothen transition near zero collective
if (_yaw_rev_expo > 0.01f) { if (_yaw_rev_expo > 0.01f) {
// yaw_compensation range: (-1,1) S-shaped curve (Logistic Model) 1/(1 + e^kt) // yaw_compensation range: (-1,1) S-shaped curve (Logistic Model) 1/(1 + e^kt)
yaw_compensation = 1.0f - (2.0f / (1.0f + powf(2.7182818f , _yaw_rev_expo * (collective_out-_collective_zero_pct)))); yaw_compensation = 1.0f - (2.0f / (1.0f + powf(2.7182818f , _yaw_rev_expo * (collective_out-_collective_zero_thrust_pct))));
yaw_out = yaw_out * yaw_compensation; yaw_out = yaw_out * yaw_compensation;
} }
} else { } else {

2
libraries/AP_Motors/AP_MotorsHeli_Dual.h
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@ -137,5 +137,5 @@ protected:
AP_Float _yaw_rev_expo; // yaw reverser smoothing exponent, for intermeshing mode only. AP_Float _yaw_rev_expo; // yaw reverser smoothing exponent, for intermeshing mode only.
// internal variables // internal variables
float _collective2_zero_pct; float _collective2_zero_thrst_pct;
}; };

16
libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
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@ -147,18 +147,18 @@ void AP_MotorsHeli_Quad::calculate_scalars()
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX; _collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
} }
_collective_zero_thrst_deg = constrain_float(_collective_zero_thrst_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1
_collective_zero_pct = (_collective_zero_thrst_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_zero_thrust_pct = (_collective_zero_thrust_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
// calculate collective land min point as a number from 0 to 1 // calculate collective land min point as a number from 0 to 1
_collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
} else { } else {
_collective_zero_pct = 0.0f; _collective_zero_thrust_pct = 0.0f;
_collective_land_min_pct = 0.0f; _collective_land_min_pct = 0.0f;
} }
@ -253,11 +253,11 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
limit.throttle_lower = true; limit.throttle_lower = true;
} }
// updates below mid collective flag // updates below land min collective flag
if (collective_out <= _collective_land_min_pct) { if (collective_out <= _collective_land_min_pct) {
_heliflags.below_mid_collective = true; _heliflags.below_land_min_coll = true;
} else { } else {
_heliflags.below_mid_collective = false; _heliflags.below_land_min_coll = false;
} }
// updates takeoff collective flag based on 50% hover collective // updates takeoff collective flag based on 50% hover collective
@ -273,7 +273,7 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
_main_rotor.set_collective(fabsf(collective_out)); _main_rotor.set_collective(fabsf(collective_out));
// rescale collective for overhead calc // rescale collective for overhead calc
collective_out -= _collective_zero_pct; collective_out -= _collective_zero_thrust_pct;
// reserve some collective for attitude control // reserve some collective for attitude control
collective_out *= collective_range; collective_out *= collective_range;
@ -314,7 +314,7 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
for (uint8_t i=0; i<AP_MOTORS_HELI_QUAD_NUM_MOTORS; i++) { for (uint8_t i=0; i<AP_MOTORS_HELI_QUAD_NUM_MOTORS; i++) {
// scale output to 0 to 1 // scale output to 0 to 1
_out[i] += _collective_zero_pct; _out[i] += _collective_zero_thrust_pct;
// scale output to -1 to 1 for servo output // scale output to -1 to 1 for servo output
_out[i] = _out[i] * 2.0f - 1.0f; _out[i] = _out[i] * 2.0f - 1.0f;
} }

14
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
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@ -325,18 +325,18 @@ void AP_MotorsHeli_Single::calculate_scalars()
_collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX; _collective_max = AP_MOTORS_HELI_COLLECTIVE_MAX;
} }
_collective_zero_thrst_deg = constrain_float(_collective_zero_thrst_deg, _collective_min_deg, _collective_max_deg); _collective_zero_thrust_deg = constrain_float(_collective_zero_thrust_deg, _collective_min_deg, _collective_max_deg);
_collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg); _collective_land_min_deg = constrain_float(_collective_land_min_deg, _collective_min_deg, _collective_max_deg);
if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) { if (!is_equal((float)_collective_max_deg, (float)_collective_min_deg)) {
// calculate collective zero thrust point as a number from 0 to 1 // calculate collective zero thrust point as a number from 0 to 1
_collective_zero_pct = (_collective_zero_thrst_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_zero_thrust_pct = (_collective_zero_thrust_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
// calculate collective land min point as a number from 0 to 1 // calculate collective land min point as a number from 0 to 1
_collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg); _collective_land_min_pct = (_collective_land_min_deg-_collective_min_deg)/(_collective_max_deg-_collective_min_deg);
} else { } else {
_collective_zero_pct = 0.0f; _collective_zero_thrust_pct = 0.0f;
_collective_land_min_pct = 0.0f; _collective_land_min_pct = 0.0f;
} }
@ -458,11 +458,11 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
} }
// updates below mid collective flag // updates below land min collective flag
if (collective_out <= _collective_land_min_pct) { if (collective_out <= _collective_land_min_pct) {
_heliflags.below_mid_collective = true; _heliflags.below_land_min_coll = true;
} else { } else {
_heliflags.below_mid_collective = false; _heliflags.below_land_min_coll = false;
} }
// updates takeoff collective flag based on 50% hover collective // updates takeoff collective flag based on 50% hover collective
@ -477,7 +477,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
// sanity check collective_yaw_effect // sanity check collective_yaw_effect
_collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE); _collective_yaw_effect = constrain_float(_collective_yaw_effect, -AP_MOTORS_HELI_SINGLE_COLYAW_RANGE, AP_MOTORS_HELI_SINGLE_COLYAW_RANGE);
// the 4.5 scaling factor is to bring the values in line with previous releases // the 4.5 scaling factor is to bring the values in line with previous releases
yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_pct) / 4.5f; yaw_offset = _collective_yaw_effect * fabsf(collective_out - _collective_zero_thrust_pct) / 4.5f;
} }
} else { } else {
yaw_offset = 0.0f; yaw_offset = 0.0f;