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tiltrotor: limmit the adapted thrust for tilt to [0,1] 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2020-02-07 10:24:48 +01:00 committed by Beat Küng
parent a26e914ef4
commit e3310796ce
1 changed files with 2 additions and 1 deletions
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3
src/modules/vtol_att_control/tiltrotor.cpp
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@ -401,6 +401,7 @@ float Tiltrotor::thrust_compensation_for_tilt()
compensated_tilt = compensated_tilt < 0.0f ? 0.0f : compensated_tilt;
compensated_tilt = compensated_tilt > 0.5f ? 0.5f : compensated_tilt;
return _v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F);
// 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);
}