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VTOL: remove pusher reverse feature

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 14:00:02 +01:00
parent c09bf66639
commit 4be74befd2
7 changed files with 2 additions and 55 deletions
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src/modules/vtol_att_control/standard.cpp
-11
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@@ -76,7 +76,6 @@ void Standard::update_vtol_state()
// Failsafe event, engage mc motors immediately
_vtol_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (!_attc->is_fixed_wing_requested()) {
@@ -85,20 +84,17 @@ void Standard::update_vtol_state()
// in mc mode
_vtol_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_reverse_output = 0.0f;
} else if (_vtol_mode == vtol_mode::FW_MODE) {
// Regular backtransition
resetTransitionStates();
_vtol_mode = vtol_mode::TRANSITION_TO_MC;
_reverse_output = _param_vt_b_rev_out.get();
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
_vtol_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
// speed exit condition: use ground if valid, otherwise airspeed
@@ -250,12 +246,6 @@ void Standard::update_transition_state()
_pusher_throttle = 0.0f;
if (_time_since_trans_start >= _param_vt_b_rev_del.get()) {
// Handle throttle reversal for active breaking
_pusher_throttle = math::constrain((_time_since_trans_start - _param_vt_b_rev_del.get())
* _param_vt_psher_slew.get(), 0.0f, _param_vt_b_trans_thr.get());
}
// continually increase mc attitude control as we transition back to mc mode
if (_param_vt_b_trans_ramp.get() > FLT_EPSILON) {
mc_weight = _time_since_trans_start / _param_vt_b_trans_ramp.get();
@@ -335,7 +325,6 @@ void Standard::fill_actuator_outputs()
fw_out[actuator_controls_s::INDEX_THROTTLE] = _pusher_throttle;
fw_out[actuator_controls_s::INDEX_FLAPS] = _flaps_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_SPOILERS] = _spoiler_setpoint_with_slewrate.getState();
fw_out[actuator_controls_s::INDEX_AIRBRAKES] = _reverse_output;
break;