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Support negative thrust for back transition

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sanderux 2017-08-13 21:53:42 +02:00 committed by Sander Smeets
parent 59d81ee0f1
commit e5a55cd142
2 changed files with 8 additions and 8 deletions
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11
src/modules/vtol_att_control/standard.cpp
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@ -143,7 +143,7 @@ Standard::parameters_update()
/* reverse throttle */
param_get(_params_handles_standard.reverse_throttle, &v);
_params_standard.reverse_throttle = math::constrain(v, 0.0f, 1.0f);
_params_standard.reverse_throttle = math::constrain(v, -1.0f, 1.0f);
/* mpc cruise speed */
param_get(_params_handles_standard.mpc_xy_cruise, &_params_standard.mpc_xy_cruise);
@ -186,13 +186,12 @@ void Standard::update_vtol_state()
_flag_enable_mc_motors = true;
_vtol_schedule.transition_start = hrt_absolute_time();
if (_params_handles_standard.reverse_output > FLT_EPSILON) {
_pusher_throttle = _params_standard.reverse_throttle;
_reverse_output = _params_standard.reverse_output;
_pusher_throttle = _params_standard.reverse_throttle;
_reverse_output = _params_standard.reverse_output;
} else {
// prevent positive thrust without control channel activated
if (_pusher_throttle > FLT_EPSILON && _reverse_output < 0.01f) {
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
}
}

5
src/modules/vtol_att_control/vtol_att_control_params.c
View File

@ -250,9 +250,10 @@ PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);
/**
* Thottle output during back transition
* This is only enabled when VT_B_REV_OUT is enabled and is used for active breaking with reverse thrust
* For ESCs and mixers that support reverse thrust on low PWM values set this to a negative value to apply active breaking
* For ESCs that support thrust reversal with a control channel please set VT_B_REV_OUT and set this to a positive value to apply active breaking
*
* @min 0
* @min -1
* @max 1
* @increment 0.01
* @decimal 2