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vtol standard: add weight to mc motor thrust to avoid sudden changes in rmp after transitions

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Roman
2015-12-21 16:36:07 +01:00
committed by Lorenz Meier
parent 6a567cd911
commit e1597c2aa9
3 changed files with 15 additions and 3 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+3 -2
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@@ -178,7 +178,7 @@ void Tailsitter::update_vtol_state()
// check if we have reached airspeed and pitch angle to switch to TRANSITION P2 mode
if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
&& _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
_vtol_schedule.flight_mode = FW_MODE;
//_vtol_schedule.transition_start = hrt_absolute_time();
}
@@ -461,7 +461,8 @@ void Tailsitter::fill_actuator_outputs()
// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW]; //roll elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH]; //pitch elevon
}
break;