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Tiltrotor: gradually reduce roll control with time or airspeed instead of simply switching it off

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This commit is contained in:
Andreas Antener
2017-01-03 17:12:34 +01:00
committed by Daniel Agar
parent f2db8d0106
commit 1de7636fad
1 changed files with 7 additions and 5 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+7 -5
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@@ -339,14 +339,16 @@ void Tiltrotor::update_transition_state()
}
if (use_airspeed && _airspeed->indicated_airspeed_m_s >= _params_tiltrotor.airspeed_blend_start) {
_mc_roll_weight = 0.0f;
_mc_roll_weight = 1.0f - (_airspeed->indicated_airspeed_m_s - _params_tiltrotor.airspeed_blend_start) /
(_params_tiltrotor.airspeed_trans - _params_tiltrotor.airspeed_blend_start);
}
// without airspeed wait until half of open-loop time has passed
// without airspeed do timed weight changes
if (!use_airspeed
&& (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_openloop * 1e6f) / 2) {
_mc_roll_weight = 0.0f;
_mc_yaw_weight = 0.0f;
&& (float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params->front_trans_time_min * 1e6f)) {
_mc_roll_weight = 1.0f - ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) - _params->front_trans_time_min *
1e6f) / (_params->front_trans_time_openloop * 1e6f - _params->front_trans_time_min * 1e6f);
_mc_yaw_weight = _mc_roll_weight;
}
_thrust_transition = _mc_virtual_att_sp->thrust;