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VTOL Tailsitter: fix motor spikes to 0 when starting back transition

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-06-07 16:11:59 +02:00
parent 3a2b973aba
commit 77a3099154
1 changed files with 8 additions and 2 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+8 -2
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@@ -301,11 +301,17 @@ void Tailsitter::fill_actuator_outputs()
}
} else {
_thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2];
// for the short period after starting the backtransition where there is no thrust published yet from the MC controller,
// keep publishing the last FW thrust to keep the motors running
if (_vtol_mode == vtol_mode::TRANSITION_BACK && _time_since_trans_start < 0.05f) {
_thrust_setpoint_0->xyz[2] = -_last_thr_in_fw_mode;
}
_torque_setpoint_0->xyz[0] = _vehicle_torque_setpoint_virtual_mc->xyz[0];
_torque_setpoint_0->xyz[1] = _vehicle_torque_setpoint_virtual_mc->xyz[1];
_torque_setpoint_0->xyz[2] = _vehicle_torque_setpoint_virtual_mc->xyz[2];
_thrust_setpoint_0->xyz[2] = _vehicle_thrust_setpoint_virtual_mc->xyz[2];
}
// Control surfaces