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VTOL: rework forward actuation assist

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-allow positive pitch offsets in hover
-add param for min pitch during LAND

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-06 11:27:19 -04:00
committed by Daniel Agar
parent f0de88fada
commit 4e3fa7cf35
8 changed files with 65 additions and 29 deletions
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src/modules/vtol_att_control/standard_params.c
-12
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@@ -61,18 +61,6 @@
*/
PARAM_DEFINE_INT32(VT_FWD_THRUST_EN, 0);
/**
* Maximum allowed angle the vehicle is allowed to pitch down to generate forward force
*
* When fixed-wing forward actuation is active (see VT_FW_TRHUST_EN).
* If demanded down pitch exceeds this limmit, the fixed-wing forward actuators are used instead.
*
* @min 0.0
* @max 45.0
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);
/**
* Fixed-wing actuator thrust scale for hover forward flight.
*