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Tiltrotor: stop motors if throttle low in FW

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This commit is contained in:
Balduin
2026-03-05 11:38:07 +01:00
parent 6175ed8d7d
commit acadd0edb1
1 changed files with 9 additions and 1 deletions
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src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
+9 -1
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@@ -201,7 +201,15 @@ void ActuatorEffectivenessTiltrotorVTOL::updateSetpoint(const matrix::Vector<flo
// in FW directly use throttle sp
if (_flight_phase == FlightPhase::FORWARD_FLIGHT) {
for (int i = 0; i < _first_tilt_idx; ++i) {
actuator_sp(i) = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
// Stop motors if thrust setpoint is below 2%. This threshold was determined empirically (RC stick inaccuracy)
if (tiltrotor_extra_controls.collective_thrust_normalized_setpoint > 0.02f) {
actuator_sp(i) = tiltrotor_extra_controls.collective_thrust_normalized_setpoint;
} else {
actuator_sp(i) = NAN;
}
}
}
}