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Tiltrotor:

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- added open-loop transition time for airspeed-less flying
- added ramping down the back motors during forwards transition
This commit is contained in:
Andreas Antener
2017-01-03 20:32:33 -05:00
committed by Daniel Agar
parent 35740b0b59
commit c416fc3fa0
5 changed files with 87 additions and 27 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+12
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@@ -132,6 +132,8 @@ VtolAttitudeControl::VtolAttitudeControl() :
_params_handles.vtol_type = param_find("VT_TYPE");
_params_handles.elevons_mc_lock = param_find("VT_ELEV_MC_LOCK");
_params_handles.fw_min_alt = param_find("VT_FW_MIN_ALT");
_params_handles.front_trans_time_openloop = param_find("VT_F_TR_OL_TM");
_params_handles.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
/* fetch initial parameter values */
parameters_update();
@@ -560,6 +562,16 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.fw_min_alt, &v);
_params.fw_min_alt = v;
param_get(_params_handles.front_trans_time_openloop, &_params.front_trans_time_openloop);
param_get(_params_handles.front_trans_time_min, &_params.front_trans_time_min);
/*
* Minimum transition time can be maximum 90 percent of the open loop transition time,
* anything else makes no sense and can potentially lead to numerical problems.
*/
_params.front_trans_time_min = math::min(_params.front_trans_time_openloop * 0.9f,
_params.front_trans_time_min);
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {