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VTOL: standard VTOL and Tiltrotor manual MC throttle during transition

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This sets the throttle of the Multicopter actuators to the throttle stick position
while in Stabilized, Acro or Manual mode.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-01-08 10:28:00 +01:00
committed by Lorenz Meier
parent 802c68a62e
commit 706f806943
2 changed files with 25 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+10
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@@ -267,6 +267,11 @@ void Standard::update_transition_state()
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
// in stabilized, acro or manual mode, set the MC thrust to the throttle stick position (coming from the FW attitude setpoint)
if (!_v_control_mode->flag_control_climb_rate_enabled) {
_v_att_sp->thrust_body[2] = -_fw_virtual_att_sp->thrust_body[0];
}
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
@@ -287,6 +292,11 @@ void Standard::update_transition_state()
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
}
// in stabilized, acro or manual mode, set the MC thrust to the throttle stick position (coming from the FW attitude setpoint)
if (!_v_control_mode->flag_control_climb_rate_enabled) {
_v_att_sp->thrust_body[2] = -_fw_virtual_att_sp->thrust_body[0];
}
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);