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[VTOL] impose minimum transition duration

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* VT_F_TR_OL_TM would silently reduce VT_TRANS_MIN_TM when VT_F_TR_OL_TM was smaller
This commit is contained in:
Thomas Stauber
2020-07-03 19:19:02 +02:00
committed by GitHub
parent 400c44b5ef
commit 3702c8b481
1 changed files with 6 additions and 4 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+6 -4
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@@ -274,12 +274,14 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.front_trans_time_min, &_params.front_trans_time_min);
/*
* Minimum transition time can be maximum 90 percent of the open loop transition time,
* Open loop transition time needs to be larger than minimum transition time,
* anything else makes no sense and can potentially lead to numerical problems.
*/
_params.front_trans_time_min = math::min(_params.front_trans_time_openloop * 0.9f,
_params.front_trans_time_min);
if (_params.front_trans_time_openloop < _params.front_trans_time_min * 1.1f) {
_params.front_trans_time_openloop = _params.front_trans_time_min * 1.1f;
param_set_no_notification(_params_handles.front_trans_time_openloop, &_params.front_trans_time_openloop);
mavlink_log_critical(&_mavlink_log_pub, "OL transition time set larger than min transition time");
}
param_get(_params_handles.front_trans_duration, &_params.front_trans_duration);
param_get(_params_handles.back_trans_duration, &_params.back_trans_duration);