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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/tiltrotor.cpp
+3 -3
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@@ -244,9 +244,9 @@ void Tiltrotor::update_transition_state()
_mc_yaw_weight = 1.0f;
if (!_param_fw_arsp_mode.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) /
(_param_vt_arsp_trans.get() - _param_vt_arsp_blend.get());
_airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) {
const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) /
(getTransitionAirspeed() - getBlendAirspeed());
_mc_roll_weight = weight;
_mc_yaw_weight = weight;
}