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Support negative thrust for back transition

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sanderux
2017-08-16 03:06:13 +02:00
committed by Sander Smeets
parent 59d81ee0f1
commit e5a55cd142
2 changed files with 8 additions and 8 deletions
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src/modules/vtol_att_control/standard.cpp
+5 -6
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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;
}
}