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Tiltrotor: disable MC yaw fade out during front transition blending 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-01-30 11:34:11 +01:00
parent 1ad83a8002
commit 7f370ac6df
1 changed files with 2 additions and 5 deletions
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7
src/modules/vtol_att_control/tiltrotor.cpp
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@ -245,10 +245,8 @@ void Tiltrotor::update_transition_state()
if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) { _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) / _mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
(getTransitionAirspeed() - getBlendAirspeed()); (getTransitionAirspeed() - getBlendAirspeed());
_mc_roll_weight = weight;
_mc_yaw_weight = weight;
} }
// without airspeed do timed weight changes // without airspeed do timed weight changes
@ -256,7 +254,6 @@ void Tiltrotor::update_transition_state()
_time_since_trans_start > getMinimumFrontTransitionTime()) { _time_since_trans_start > getMinimumFrontTransitionTime()) {
_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) / _mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime()); (getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());
_mc_yaw_weight = _mc_roll_weight;
} }
// add minimum throttle for front transition // add minimum throttle for front transition