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vtol_type: added explicit control over deceleration during backtransition

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent baf5e86f81
commit 47b5d51369
6 changed files with 101 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -280,9 +280,9 @@ void Standard::update_transition_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// maintain FW_PSP_OFF
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
@@ -412,4 +412,4 @@ Standard::waiting_on_tecs()
{
// keep thrust from transition
_v_att_sp->thrust_body[0] = _pusher_throttle;
};
};