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VTOL pusher/tilt support: addressed review comments:

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- remove gloabl variable and instead give back forward_thrust from function
 - give back increased vertical thrust from fct thrust_compensation_for_tilt()

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-07 16:43:44 +01:00
committed by Beat Küng
parent 5ae4ca8ff1
commit a26e914ef4
5 changed files with 19 additions and 25 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+4 -7
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@@ -207,11 +207,9 @@ void Tiltrotor::update_mc_state()
{
VtolType::update_mc_state();
VtolType::pusher_assist();
_tilt_control = VtolType::pusher_assist();
_tilt_control = _forward_thrust;
Tiltrotor::thrust_compensation_for_tilt();
_v_att_sp->thrust_body[2] = Tiltrotor::thrust_compensation_for_tilt();
}
void Tiltrotor::update_fw_state()
@@ -395,7 +393,7 @@ void Tiltrotor::fill_actuator_outputs()
* Increase combined thrust of MC propellers if motors are tilted. Assumes that all MC motors are tilted equally.
*/
void Tiltrotor::thrust_compensation_for_tilt()
float Tiltrotor::thrust_compensation_for_tilt()
{
// only compensate for tilt angle up to 0.5 * max tilt
@@ -403,7 +401,6 @@ void Tiltrotor::thrust_compensation_for_tilt()
compensated_tilt = compensated_tilt < 0.0f ? 0.0f : compensated_tilt;
compensated_tilt = compensated_tilt > 0.5f ? 0.5f : compensated_tilt;
float thrust_new = _v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F);
return _v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F);
_v_att_sp->thrust_body[2] = thrust_new;
}