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Start time based transition blending half-way

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sander
2016-08-14 17:09:25 +02:00
committed by Andreas Antener
parent e6834579e5
commit 5bb36162be
1 changed files with 7 additions and 3 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -3
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@@ -263,10 +263,14 @@ void Standard::update_transition_state()
// time based blending when no airspeed sensor is set
} else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f)
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > ((_params_standard.front_trans_time_min / 2.0f) * 1000000.0f)
) {
float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_time_min * 1000000.0f));
float weight = 1.0f - ((float)(hrt_elapsed_time(&_vtol_schedule.transition_start) - ((_params_standard.front_trans_time_min / 2.0f) * 1000000.0f)) /
((_params_standard.front_trans_time_min / 2.0f) * 1000000.0f));
weight = math::constrain(weight, 0.0f, 1.0f);
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
_mc_yaw_weight = weight;