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Tiltrotor: front transition: fade out yaw equally to roll

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-15 09:58:48 +02:00
parent 641383cbfb
commit cba80a6338
1 changed files with 4 additions and 9 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+4 -9
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@@ -45,7 +45,6 @@
using namespace matrix; using namespace matrix;
using namespace time_literals; 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 FRONTTRANS_THR_MIN 0.25f
#define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f #define BACKTRANS_THROTTLE_DOWNRAMP_DUR_S 1.0f
#define BACKTRANS_THROTTLE_UPRAMP_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_roll_weight = 1.0f;
_mc_yaw_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) && if (!_params->airspeed_disabled && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
_airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend) { _airspeed_validated->calibrated_airspeed_m_s >= _params->airspeed_blend) {
_mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) / const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - _params->airspeed_blend) /
(_params->transition_airspeed - _params->airspeed_blend); (_params->transition_airspeed - _params->airspeed_blend);
_mc_roll_weight = weight;
_mc_yaw_weight = weight;
} }
// without airspeed do timed weight changes // without airspeed do timed weight changes