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Tailsitter: use same pitch transition thresholds in all modes 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-12-11 16:59:45 +01:00
parent 3e36ab187b
commit 3b54a06567
2 changed files with 3 additions and 18 deletions
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18
src/modules/vtol_att_control/tailsitter.cpp
View File

@ -88,15 +88,8 @@ void Tailsitter::update_vtol_state()
case vtol_mode::TRANSITION_BACK:
const float pitch = Eulerf(Quatf(_v_att->q)).theta();
float pitch_threshold_mc = PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC;
// if doing transition in Stabilized mode set threshold to max angle plus 5° margin
if (!_v_control_mode->flag_control_altitude_enabled) {
pitch_threshold_mc = math::radians(-_param_mpc_tilt_max.get() - 5.f);
}
// check if we have reached pitch angle to switch to MC mode
if (pitch >= pitch_threshold_mc || _time_since_trans_start > _param_vt_b_trans_dur.get()) {
if (pitch >= PITCH_THRESHOLD_AUTO_TRANSITION_TO_MC || _time_since_trans_start > _param_vt_b_trans_dur.get()) {
_vtol_mode = vtol_mode::MC_MODE;
}
@ -326,14 +319,7 @@ bool Tailsitter::isFrontTransitionCompletedBase()
bool transition_to_fw = false;
const float pitch = Eulerf(Quatf(_v_att->q)).theta();
float pitch_threshold_fw = PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW;
// if doing transition in Stabilized mode set threshold to max angle minus 5° margin
if (!_v_control_mode->flag_control_altitude_enabled) {
pitch_threshold_fw = math::radians(-_param_mpc_tilt_max.get() + 5.f);
}
if (pitch <= pitch_threshold_fw) {
if (pitch <= PITCH_THRESHOLD_AUTO_TRANSITION_TO_FW) {
if (airspeed_triggers_transition) {
transition_to_fw = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get() ;

3
src/modules/vtol_att_control/tailsitter.h
View File

@ -88,8 +88,7 @@ private:
bool isFrontTransitionCompletedBase() override;
DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off,
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _param_mpc_tilt_max
(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off
)