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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/tiltrotor.cpp
+1 -1
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@@ -483,6 +483,6 @@ float Tiltrotor::thrust_compensation_for_tilt()
// only compensate for tilt angle up to 0.5 * max tilt
float compensated_tilt = math::constrain(_tilt_control, 0.0f, 0.5f);
// increase vertical thrust by 1/cos(tilt), limmit to [-1,0]
// increase vertical thrust by 1/cos(tilt), limit to [-1,0]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), -1.0f, 0.0f);
}