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tailsitter: stop fiddling with thrust during transition and just let

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the mc pos controller handle it for now

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-03-01 15:50:33 +01:00 committed by Daniel Agar
parent 08534588cd
commit ea3586cfd9
1 changed files with 3 additions and 10 deletions
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13
src/modules/vtol_att_control/tailsitter.cpp
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@ -240,14 +240,7 @@ void Tailsitter::update_transition_state()
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, PITCH_TRANSITION_FRONT_P1 - 0.2f,
_pitch_transition_start);
/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */
if (_airspeed->indicated_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_thrust_transition = math::constrain(_thrust_transition, _thrust_transition_start,
(1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
_v_att_sp->thrust = _thrust_transition;
}
_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
// disable mc yaw control once the plane has picked up speed
if (_airspeed->indicated_airspeed_m_s > ARSP_YAW_CTRL_DISABLE) {
@ -309,8 +302,8 @@ void Tailsitter::update_transition_state()
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.back_trans_dur * 1000000.0f);
_v_att_sp->pitch_body = math::constrain(_v_att_sp->pitch_body, -2.0f, PITCH_TRANSITION_BACK + 0.2f);
// throttle value is decreesed
_v_att_sp->thrust = _thrust_transition_start * 0.9f;
_v_att_sp->thrust = _mc_virtual_att_sp->thrust;
/** keep yaw disabled */
_mc_yaw_weight = 0.0f;