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Plane: attitude: use new transition class

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Iampete1 2021-09-18 00:26:11 +01:00 committed by Andrew Tridgell
parent a45e7608f2
commit f25e5087c0
1 changed files with 6 additions and 15 deletions
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21
ArduPlane/Attitude.cpp
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@ -464,16 +464,10 @@ void Plane::stabilize()
float speed_scaler = get_speed_scaler();
uint32_t now = AP_HAL::millis();
bool allow_stick_mixing = true;
#if HAL_QUADPLANE_ENABLED
if (quadplane.tailsitter.in_vtol_transition(now)) {
/*
during transition to vtol in a tailsitter try to raise the
nose while keeping the wings level
*/
uint32_t dt = now - quadplane.transition_start_ms;
// multiply by 0.1 to convert (degrees/second * milliseconds) to centi degrees
nav_pitch_cd = constrain_float(quadplane.transition_initial_pitch + (quadplane.tailsitter.transition_rate_vtol * dt) * 0.1f, -8500, 8500);
nav_roll_cd = 0;
if (quadplane.available()) {
quadplane.transition->set_FW_roll_pitch(nav_pitch_cd, nav_roll_cd, allow_stick_mixing);
}
#endif
@ -508,12 +502,12 @@ void Plane::stabilize()
}
#endif
} else {
if (g.stick_mixing == STICK_MIXING_FBW && control_mode != &mode_stabilize) {
if (allow_stick_mixing && g.stick_mixing == STICK_MIXING_FBW && control_mode != &mode_stabilize) {
stabilize_stick_mixing_fbw();
}
stabilize_roll(speed_scaler);
stabilize_pitch(speed_scaler);
if (g.stick_mixing == STICK_MIXING_DIRECT || control_mode == &mode_stabilize) {
if (allow_stick_mixing && (g.stick_mixing == STICK_MIXING_DIRECT || control_mode == &mode_stabilize)) {
stabilize_stick_mixing_direct();
}
stabilize_yaw(speed_scaler);
@ -755,10 +749,7 @@ void Plane::update_load_factor(void)
aerodynamic_load_factor = 1.0f / safe_sqrt(cosf(radians(demanded_roll)));
#if HAL_QUADPLANE_ENABLED
if (quadplane.in_transition() &&
(quadplane.options & QuadPlane::OPTION_LEVEL_TRANSITION)) {
// the user wants transitions to be kept level to within LEVEL_ROLL_LIMIT
roll_limit_cd = MIN(roll_limit_cd, g.level_roll_limit*100);
if (quadplane.available() && quadplane.transition->set_FW_roll_limit(roll_limit_cd)) {
nav_roll_cd = constrain_int32(nav_roll_cd, -roll_limit_cd, roll_limit_cd);
return;
}