From cba80a633814917bfa4a8a8a670bdac1db377764 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 19 Aug 2021 17:55:22 +0200 Subject: [PATCH] Tiltrotor: front transition: fade out yaw equally to roll Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 13 ++++--------- 1 file changed, 4 insertions(+), 9 deletions(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index be3d90c086..8115004ccc 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -45,7 +45,6 @@ using namespace matrix; using namespace time_literals; -#define ARSP_YAW_CTRL_DISABLE 7.0f // airspeed at which we stop controlling yaw during a front transition #define FRONTTRANS_THR_MIN 0.25f #define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f #define BACKTRANS_THROTTLE_UPRAMP_DUR_S 1.0f; @@ -334,16 +333,12 @@ void Tiltrotor::update_transition_state() _mc_roll_weight = 1.0f; _mc_yaw_weight = 1.0f; - // reduce MC controls once the plane has picked up speed - if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && - _airspeed_validated->calibrated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) { - _mc_yaw_weight = 0.0f; - } - if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && _airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend) { - _mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) / - (_params->transition_airspeed - _params->airspeed_blend); + const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) / + (_params->transition_airspeed - _params->airspeed_blend); + _mc_roll_weight = weight; + _mc_yaw_weight = weight; } // without airspeed do timed weight changes