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vtol: make sure transition airpseed is above weight compensated minimum airspeed

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2023-10-11 12:05:24 +03:00
committed by Roman Bapst
parent 6dfede0806
commit b50a23beb0
4 changed files with 53 additions and 8 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -3
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@@ -204,16 +204,16 @@ void Standard::update_transition_state()
_param_vt_psher_slew.get() * _dt, _param_vt_f_trans_thr.get());
}
_airspeed_trans_blend_margin = _param_vt_arsp_trans.get() - _param_vt_arsp_blend.get();
_airspeed_trans_blend_margin = getTransitionAirspeed() - getBlendAirspeed();
// do blending of mc and fw controls if a blending airspeed has been provided and the minimum transition time has passed
if (_airspeed_trans_blend_margin > 0.0f &&
PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s > 0.0f &&
_airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get() &&
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed() &&
_time_since_trans_start > getMinimumFrontTransitionTime()) {
mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) /
mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
_airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set