From 8e6976a40402e2b7b9c24d7a0b59deab0e3fdd94 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 18 May 2022 19:09:46 +0200 Subject: [PATCH] tailsitter: reduce tilt to switch to FW in front transition This is to allow transitions in stabilized mode, where the tilt is set directly with stick inputs. For Position control / Auto mode it was fine because there the pitch is set by the transition logic. Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tailsitter.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tailsitter.cpp b/src/modules/vtol_att_control/tailsitter.cpp index a4209531dc..954737b833 100644 --- a/src/modules/vtol_att_control/tailsitter.cpp +++ b/src/modules/vtol_att_control/tailsitter.cpp @@ -44,7 +44,7 @@ #include -#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2 +#define PITCH_TRANSITION_FRONT_P1 -0.5f // pitch angle to switch to TRANSITION_P2 (28°) #define PITCH_TRANSITION_BACK -0.25f // pitch angle to switch to MC using namespace matrix;