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VTOL: Smarter pusher ramp up during front transtitions for standard VTOLs (#20394)

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New param VT_PSHER_SLEW for ramping up throttle of pusher during front/back transition, that replaces the old VT_PSHER_RMP_DT param.
This commit is contained in:
GaspardBesacier
2022-11-14 16:32:51 +01:00
committed by GitHub
parent f5ecd1106f
commit dfced1fe46
4 changed files with 25 additions and 12 deletions
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src/lib/parameters/param_translation.cpp
+11
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@@ -259,5 +259,16 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-11-11: translate VT_F_TRANS_THR/VT_PSHER_RMP_DT -> VT_PSHER_SLEW
{
if (strcmp("VT_PSHER_RMP_DT", node->name) == 0) {
strcpy(node->name, "VT_PSHER_SLEW");
double _param_vt_f_trans_thr = param_find("VT_F_TRANS_THR");
node->d = _param_vt_f_trans_thr / node->d;
PX4_INFO("copying %s -> %s", "VT_PSHER_RMP_DT", "VT_PSHER_SLEW");
return true;
}
}
return false;
}