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standard vtol: simplify blending weight calculation

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent b66bc712af
commit 23257bf6ee
1 changed files with 3 additions and 5 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -5
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@@ -257,11 +257,9 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_params->airspeed_disabled &&
time_since_trans_start < _params->front_trans_time_min &&
time_since_trans_start > _params->front_trans_time_min / 2.0f) {
mc_weight = 1.0f - ((time_since_trans_start - _params->front_trans_time_min / 2.0f) /
(_params->front_trans_time_min / 2.0f));
} else if (_params->airspeed_disabled) {
mc_weight = 1.0f - (time_since_trans_start - _params->front_trans_time_min) / _params->front_trans_time_min;
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
}