From c26b699f8a5a068284628b86a861711b2cf3fcea Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 26 Jun 2023 09:02:41 +0200 Subject: [PATCH] tiltrotor: reduce BACKTRANS_THROTTLE_DOWNRAMP_DUR_S from 1 to 0.5s This affects how soon after a backtransition the vehicle has the full hover controller running again. Specifically it reduces the duration of the ramp down of the motors prior to tilting them. Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 3be203dd59..957d461b90 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -46,7 +46,7 @@ using namespace matrix; using namespace time_literals; #define FRONTTRANS_THR_MIN 0.25f -#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f +#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 0.5f; #define BACKTRANS_THROTTLE_UPRAMP_DUR_S 1.0f; #define BACKTRANS_MOTORS_UPTILT_DUR_S 1.0f;