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Tiltrotor: make sure tilt doesn't exceed the FW tilt angle 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-02-01 10:05:06 +01:00 committed by Beat Küng
parent c13726af66
commit 25f5152583
1 changed files with 3 additions and 3 deletions
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6
src/modules/vtol_att_control/tiltrotor.cpp
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@ -370,9 +370,9 @@ void Tiltrotor::update_transition_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = _params_tiltrotor.tilt_transition +
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) * time_since_trans_start /
_params_tiltrotor.front_trans_dur_p2;
_tilt_control = math::constrain(_params_tiltrotor.tilt_transition +
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) * time_since_trans_start /
_params_tiltrotor.front_trans_dur_p2, _params_tiltrotor.tilt_transition, _params_tiltrotor.tilt_fw);
_mc_roll_weight = 0.0f;
_mc_yaw_weight = 0.0f;