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Plane: added Q_WVANE_MINROLL

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this allows for some roll trim without weathervaning
This commit is contained in:
Andrew Tridgell 2016-04-21 21:52:25 +10:00
parent bcc4a653d7
commit de33779382
2 changed files with 22 additions and 2 deletions
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23
ArduPlane/quadplane.cpp
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@ -241,11 +241,19 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: WVANE_GAIN
// @DisplayName: Weathervaning gain
// @Description: This controls the tendency to yaw to face into the wind. A value of 0.4 is good for reasonably quick wind direction correction.
// @Description: This controls the tendency to yaw to face into the wind. A value of 0.4 is good for reasonably quick wind direction correction. The weathervaning works by turning into the direction of roll.
// @Range: 0 1
// @Increment: 0.01
// @User: Standard
AP_GROUPINFO("WVANE_GAIN", 33, QuadPlane, weathervane.gain, 0),
// @Param: WVANE_MINROLL
// @DisplayName: Weathervaning min roll
// @Description: This set the minimum roll in degrees before active weathervaning will start. This may need to be larger if your aircraft has bad roll trim.
// @Range: 0 10
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("WVANE_MINROLL", 34, QuadPlane, weathervane.min_roll, 1),
AP_GROUPEND
};
@ -1471,7 +1479,18 @@ float QuadPlane::get_weathervane_yaw_rate_cds(void)
return 0;
}
float output = constrain_float((wp_nav->get_roll() / 4500.0f) * weathervane.gain, -1, 1);
float roll = wp_nav->get_roll() / 100.0f;
if (fabsf(roll) < weathervane.min_roll) {
weathervane.last_output = 0;
return 0;
}
if (roll > 0) {
roll -= weathervane.min_roll;
} else {
roll += weathervane.min_roll;
}
float output = constrain_float((roll/45.0f) * weathervane.gain, -1, 1);
if (should_relax()) {
output = 0;
}

1
ArduPlane/quadplane.h
View File

@ -184,6 +184,7 @@ private:
struct {
AP_Float gain;
AP_Float min_roll;
uint32_t last_pilot_input_ms;
float last_output;
} weathervane;