fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 14:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW controllers: change param FW_ARSP_MODE to FW_USE_AIRSPD

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-21 11:34:28 +01:00
parent 1f2a0bc657
commit 9e0c8fd75e
14 changed files with 35 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+2 -2
View File
@@ -243,7 +243,7 @@ void Tiltrotor::update_transition_state()
_mc_roll_weight = 1.0f;
_mc_yaw_weight = 1.0f;
if (!_param_fw_arsp_mode.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
(getTransitionAirspeed() - getBlendAirspeed());
@@ -252,7 +252,7 @@ void Tiltrotor::update_transition_state()
}
// without airspeed do timed weight changes
if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
if ((!_param_fw_use_airspd.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
_time_since_trans_start > getMinimumFrontTransitionTime()) {
_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());