fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 06:50:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

tiltrotor: limmit the adapted thrust for tilt to [0,1]

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-07 10:24:48 +01:00
committed by Beat Küng
parent a26e914ef4
commit e3310796ce
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+2 -1
View File
@@ -401,6 +401,7 @@ float Tiltrotor::thrust_compensation_for_tilt()
compensated_tilt = compensated_tilt < 0.0f ? 0.0f : compensated_tilt;
compensated_tilt = compensated_tilt > 0.5f ? 0.5f : compensated_tilt;
return _v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F);
// increase vertical thrust by 1/cos(tilt), limmit to [0,1]
return math::constrain(_v_att_sp->thrust_body[2] / cosf(compensated_tilt * M_PI_2_F), 0.0f, 1.0f);
}