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tiltrotor tilt support: fix thrust compensation constraining

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-07 15:27:47 +01:00
committed by Beat Küng
parent 4c9dba8692
commit 9ba0d5b706
1 changed files with 2 additions and 3 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+2 -3
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@@ -395,11 +395,10 @@ void Tiltrotor::fill_actuator_outputs()
float Tiltrotor::thrust_compensation_for_tilt()
{
// only compensate for tilt angle up to 0.5 * max tilt
float compensated_tilt = math::constrain(_tilt_control, 0.0f, 0.5f);
// increase vertical thrust by 1/cos(tilt), limmit to [0,1]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), 0.0f, 1.0f);
// increase vertical thrust by 1/cos(tilt), limmit to [-1,0]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), -1.0f, 0.0f);
}