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add transition back throttle value and angular rate

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davidvor 2015-09-03 17:19:40 +03:00 committed by tumbili
parent 19b9606486
commit 76c479170a
1 changed files with 5 additions and 2 deletions
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7
src/modules/vtol_att_control/tailsitter.cpp
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@ -46,7 +46,7 @@
#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2
#define PITCH_TRANSITION_FRONT_P2 -1.2f // pitch angle to switch to FW
#define PITCH_TRANSITION_BACK -0.6f // pitch angle to switch to MC
#define PITCH_TRANSITION_BACK -0.25f // pitch angle to switch to MC
Tailsitter::Tailsitter (VtolAttitudeControl *attc) :
VtolType(attc),
@ -316,8 +316,11 @@ void Tailsitter::update_transition_state()
}
/** create time dependant pitch angle set point stating at -pi/2 + 0.2 rad overlap over the switch value*/
_v_att_sp->pitch_body = -1.57f + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK - _pitch_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = -1.57f + _pitch_transition_start + fabsf(PITCH_TRANSITION_BACK + 1.57f ) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body , -2.0f , PITCH_TRANSITION_BACK+0.2f);
_v_att_sp->thrust = _throttle_transition*0.9f;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;