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Apply slew rate to reverse thrust

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sanderux 2017-08-03 15:16:19 +02:00 committed by Sander Smeets
parent e9516db5b0
commit 560e9e88dc
1 changed files with 6 additions and 0 deletions
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6
src/modules/vtol_att_control/standard.cpp
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@ -348,6 +348,12 @@ void Standard::update_transition_state()
q_sp.copyTo(_v_att_sp->q_d);
_v_att_sp->q_d_valid = true;
if (_params_handles_standard.reverse_output > FLT_EPSILON) {
_pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, 0.0f, _params_standard.reverse_throttle);
}
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_dur > FLT_EPSILON) {
float weight = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /