fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Allow negative thrust on reverse throttle

Browse Source
This commit is contained in:
sanderux 2017-08-13 22:11:56 +02:00 committed by Sander Smeets
parent 01d9212a29
commit 4396e78d12
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/vtol_att_control/standard.cpp
View File

@ -352,7 +352,7 @@ void Standard::update_transition_state()
q_sp.copyTo(_v_att_sp->q_d);
_v_att_sp->q_d_valid = true;
if (_params_handles_standard.reverse_output > FLT_EPSILON) {
if (_params_handles_standard.reverse_throttle > FLT_EPSILON || _params_handles_standard.reverse_throttle < 0.01f) {
_pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle);