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simplify back transition throttle scaling

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sanderux
2017-08-16 02:12:26 +02:00
committed by Sander Smeets
parent 6b9a8daceb
commit 66bb7adc4c
1 changed files with 4 additions and 6 deletions
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src/modules/vtol_att_control/standard.cpp
+4 -6
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@@ -347,12 +347,10 @@ void Standard::update_transition_state()
_v_att_sp->q_d_valid = true;
// Handle throttle reversal for active breaking
if (_params_handles_standard.back_trans_throttle > FLT_EPSILON
|| _params_handles_standard.back_trans_throttle < -0.01f) {
_pusher_throttle = _params_standard.back_trans_throttle * (float)hrt_elapsed_time(&_vtol_schedule.transition_start) /
(_params_standard.front_trans_dur * 1000000.0f);
_pusher_throttle = math::constrain(_pusher_throttle, -1.0f, _params_standard.back_trans_throttle);
}
float thrscale = (float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_dur *
1000000.0f);
thrscale = math::constrain(thrscale, 0.0f, 1.0f);
_pusher_throttle = thrscale * _params_standard.back_trans_throttle;
// continually increase mc attitude control as we transition back to mc mode
if (_params_standard.back_trans_ramp > FLT_EPSILON) {