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fw_att_controller: Forcing actuator scaling to at least minimum speed

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Lorenz Meier
2014-04-05 21:26:17 +02:00
parent 4a0c660088
commit ab60b13b6d
1 changed files with 9 additions and 2 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+9 -2
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@@ -669,8 +669,15 @@ FixedwingAttitudeControl::task_main()
airspeed = _airspeed.true_airspeed_m_s;
}
float airspeed_scaling = _parameters.airspeed_trim / airspeed;
//warnx("aspd scale: %6.2f act scale: %6.2f", airspeed_scaling, actuator_scaling);
/*
* For scaling our actuators using anything less than the min (close to stall)
* speed doesn't make any sense - its the strongest reasonable deflection we
* want to do in flight and its the baseline a human pilot would choose.
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
float airspeed_scaling = _parameters.airspeed_trim / ((airspeed < _parameters.airspeed_min) ? _parameters.airspeed_min : airspeed);
float roll_sp = _parameters.rollsp_offset_rad;
float pitch_sp = _parameters.pitchsp_offset_rad;