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VTOL control back transition ramp up time

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This commit is contained in:
sanderux
2017-08-16 03:06:13 +02:00
committed by Sander Smeets
parent 560e9e88dc
commit 50894e8615
3 changed files with 21 additions and 2 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -2
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@@ -64,6 +64,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.front_trans_dur = param_find("VT_F_TRANS_DUR");
_params_handles_standard.back_trans_dur = param_find("VT_B_TRANS_DUR");
_params_handles_standard.back_trans_ramp = param_find("VT_B_TRANS_RAMP");
_params_handles_standard.pusher_trans = param_find("VT_TRANS_THR");
_params_handles_standard.airspeed_blend = param_find("VT_ARSP_BLEND");
_params_handles_standard.airspeed_trans = param_find("VT_ARSP_TRANS");
@@ -97,6 +98,10 @@ Standard::parameters_update()
param_get(_params_handles_standard.back_trans_dur, &v);
_params_standard.back_trans_dur = math::constrain(v, 0.0f, 20.0f);
/* MC ramp up during back transition to mc mode */
param_get(_params_handles_standard.back_trans_ramp, &v);
_params_standard.back_trans_ramp = math::constrain(v, 0.0f, _params_standard.back_trans_dur);
/* target throttle value for pusher motor during the transition to fw mode */
param_get(_params_handles_standard.pusher_trans, &v);
_params_standard.pusher_trans = math::constrain(v, 0.0f, 5.0f);
@@ -355,9 +360,9 @@ void Standard::update_transition_state()
}
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_dur > FLT_EPSILON) {
if (_params_standard.back_trans_ramp > FLT_EPSILON) {
float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
((_params_standard.back_trans_dur / 2) * 1000000.0f);
((_params_standard.back_trans_ramp) * 1000000.0f);
weight = math::constrain(weight, 0.0f, 1.0f);
_mc_roll_weight = weight;
_mc_pitch_weight = weight;