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FW pos control: Robustify for throttle scaling

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PX4 can support negative (reverse) throttle and the fixed wing controller is not expecting this input range. This hardens it against it.
This commit is contained in:
Lorenz Meier 2021-02-13 20:34:02 +01:00
parent 6d489a4b4d
commit 548e070b91
1 changed files with 3 additions and 3 deletions
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6
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -233,14 +233,14 @@ FixedwingPositionControl::manual_control_setpoint_poll()
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_manual_control_setpoint_altitude = _manual_control_setpoint.x;
_manual_control_setpoint_airspeed = _manual_control_setpoint.z;
_manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f);
if (_param_fw_posctl_inv_st.get()) {
/* Alternate stick allocation (similar concept as for multirotor systems:
* demanding up/down with the throttle stick, and move faster/break with the pitch one.
*/
_manual_control_setpoint_altitude = -(_manual_control_setpoint.z * 2.f - 1.f);
_manual_control_setpoint_airspeed = _manual_control_setpoint.x / 2.f + 0.5f;
_manual_control_setpoint_altitude = -(math::constrain(_manual_control_setpoint.z, 0.0f, 1.0f) * 2.f - 1.f);
_manual_control_setpoint_airspeed = math::constrain(_manual_control_setpoint.x, 0.0f, 1.0f) / 2.f + 0.5f;
}
}