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added sanity checkto prevent false low airspeed readings during transition

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tumbili
2014-12-15 22:12:11 +01:00
parent 9bf19c8d1e
commit 51a7fbeee0
1 changed files with 5 additions and 0 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
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@@ -557,6 +557,11 @@ VtolAttitudeControl::scale_mc_output() {
airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s); airspeed = math::max(0.5f, _airspeed.true_airspeed_m_s);
} }
// Sanity check if airspeed is consistent with throttle
if(_manual_control_sp.z >= 0.35f && airspeed < _params.mc_airspeed_trim) { // XXX magic number, should be hover throttle param
airspeed = _params.mc_airspeed_trim;
}
/* /*
* For scaling our actuators using anything less than the min (close to stall) * For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we * speed doesn't make any sense - its the strongest reasonable deflection we