Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-06 16:49:51 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

limit for pitch angle set point during transition

Browse Source
This commit is contained in:
davidvor
2015-08-27 14:07:13 +03:00
committed by tumbili
parent 30bb05487a
commit 2642b3fbea
1 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tailsitter.cpp
+4
View File
@@ -259,6 +259,10 @@ void Tailsitter::update_transition_state()
/** create time dependant pitch angle set point + 0.2 rad overlap over the switch value*/
if (_v_att_sp->pitch_body >= (PITCH_TRANSITION_FRONT_P1-0.2f) ) {
_v_att_sp->pitch_body = _pitch_transition_start - (fabsf(PITCH_TRANSITION_FRONT_P1 -_pitch_transition_start) * (float)hrt_elapsed_time(&_vtol_schedule.transition_start)/(_params_tailsitter.front_trans_dur * 1000000.0f));
if (_v_att_sp->pitch_body <= (PITCH_TRANSITION_FRONT_P1-0.2f) ) {
_v_att_sp->pitch_body = PITCH_TRANSITION_FRONT_P1-0.2f;
}
}
/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */