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 31 Packages Projects Releases Wiki Activity

Allow negative thrust on reverse throttle

Browse Source
This commit is contained in:
sanderux
2017-08-13 22:11:56 +02:00
committed by Sander Smeets
parent 01d9212a29
commit 4396e78d12
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/standard.cpp
+1 -1
View File
@@ -352,7 +352,7 @@ void Standard::update_transition_state()
q_sp.copyTo(_v_att_sp->q_d); q_sp.copyTo(_v_att_sp->q_d);
_v_att_sp->q_d_valid = true; _v_att_sp->q_d_valid = true;
if (_params_handles_standard.reverse_output > FLT_EPSILON) { if (_params_handles_standard.reverse_throttle > FLT_EPSILON || _params_handles_standard.reverse_throttle < 0.01f) {
_pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / _pusher_throttle = _params_standard.reverse_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f); (_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle); _pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.reverse_throttle);