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VTOL type and tiltrotor: use math::constrain() for constraining 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-02-07 10:27:54 +01:00 committed by Beat Küng
parent e3310796ce
commit 4c9dba8692
2 changed files with 2 additions and 5 deletions
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4
src/modules/vtol_att_control/tiltrotor.cpp
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@ -397,9 +397,7 @@ float Tiltrotor::thrust_compensation_for_tilt()
{
// only compensate for tilt angle up to 0.5 * max tilt
float compensated_tilt = _tilt_control;
compensated_tilt = compensated_tilt < 0.0f ? 0.0f : compensated_tilt;
compensated_tilt = compensated_tilt > 0.5f ? 0.5f : compensated_tilt;
float compensated_tilt = math::constrain(_tilt_control, 0.0f, 0.5f);
// increase vertical thrust by 1/cos(tilt), limmit to [0,1]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), 0.0f, 1.0f);

3
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -434,8 +434,7 @@ float VtolType::pusher_assist()
forward_thrust = (sinf(-pitch_down) - sinf(_params->down_pitch_max)) * _params->forward_thrust_scale;
// limit forward actuation to [0, 0.9]
forward_thrust = forward_thrust < 0.0f ? 0.0f : forward_thrust;
forward_thrust = forward_thrust > 0.9f ? 0.9f : forward_thrust;
forward_thrust = math::constrain(forward_thrust, 0.0f, 0.9f);
// return the vehicle to level position
float pitch_new = 0.0f;