forked from Archive/PX4-Autopilot
Tiltrotor: disable MC yaw fade out during front transition blending
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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@ -245,10 +245,8 @@ void Tiltrotor::update_transition_state()
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if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
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_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
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const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
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(getTransitionAirspeed() - getBlendAirspeed());
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_mc_roll_weight = weight;
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_mc_yaw_weight = weight;
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_mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
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(getTransitionAirspeed() - getBlendAirspeed());
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}
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// without airspeed do timed weight changes
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@ -256,7 +254,6 @@ void Tiltrotor::update_transition_state()
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_time_since_trans_start > getMinimumFrontTransitionTime()) {
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_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
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(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());
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_mc_yaw_weight = _mc_roll_weight;
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}
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// add minimum throttle for front transition
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