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added parameter to allow scaling the forward thrust used to acclerate forward

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in multirotor mode
This commit is contained in:
tumbili
2016-04-11 14:56:50 +02:00
committed by tumbili
parent 34fe340864
commit db2a53d95d
3 changed files with 20 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -1
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@@ -67,6 +67,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles_standard.forward_thurst_scale = param_find("VT_FWD_THRUST_SC");
}
Standard::~Standard()
@@ -110,6 +111,10 @@ Standard::parameters_update()
param_get(_params_handles_standard.down_pitch_max, &v);
_params_standard.down_pitch_max = math::radians(v);
/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
param_get(_params_handles_standard.forward_thurst_scale, &_params_standard.forward_thurst_scale);
return OK;
}
@@ -297,7 +302,8 @@ void Standard::update_mc_state()
R.from_euler(0, 0, euler(2));
math::Vector<3> body_x_zero_tilt(R(0,0), R(1,0), R(2,0));
_pusher_throttle = body_x_zero_tilt * thrust_sp_axis * _v_att_sp->thrust;
// we are using a parameter to scale the thrust value in order to compensate for highly over/under-powered motors
_pusher_throttle = body_x_zero_tilt * thrust_sp_axis * _v_att_sp->thrust * _params_standard.forward_thurst_scale;
_pusher_throttle = _pusher_throttle < 0.0f ? 0.0f : _pusher_throttle;
float pitch_sp_corrected = _v_att_sp->pitch_body < -_params_standard.down_pitch_max ? -_params_standard.down_pitch_max : _v_att_sp->pitch_body;