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Compensate VTOL transition time for air density (#19293)

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* vtol: compensate front transition minimum time and front transiton openloop time
for air density

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-03-09 08:41:30 -05:00
committed by GitHub
parent 0617fd2b6f
commit 69560bd4f4
6 changed files with 64 additions and 8 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -179,7 +179,7 @@ void Standard::update_vtol_state()
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
&& !_params->airspeed_disabled;
const bool minimum_trans_time_elapsed = time_since_trans_start > _params->front_trans_time_min;
const bool minimum_trans_time_elapsed = time_since_trans_start > getMinimumFrontTransitionTime();
bool transition_to_fw = false;
@@ -261,14 +261,14 @@ void Standard::update_transition_state()
PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s > 0.0f &&
_airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend &&
time_since_trans_start > _params->front_trans_time_min) {
time_since_trans_start > getMinimumFrontTransitionTime()) {
mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) /
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set
} else if (_params->airspeed_disabled || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
mc_weight = 1.0f - time_since_trans_start / _params->front_trans_time_min;
mc_weight = 1.0f - time_since_trans_start / getMinimumFrontTransitionTime();
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
}