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Time based front transition blending

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sander
2016-06-21 21:57:30 +02:00
committed by Roman
parent b54982965b
commit cea2350d2e
1 changed files with 12 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+12
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@@ -249,6 +249,18 @@ void Standard::update_transition_state()
_mc_yaw_weight = weight;
_mc_throttle_weight = weight;
// time based blending when no airspeed sensor is set
} else if (_params_standard.airspeed_mode == 2 &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f)
) {
float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_time_min * 1000000.0f));
printf("weight: %f \n", (double)weight);
_mc_roll_weight = weight;
_mc_pitch_weight = weight;
_mc_yaw_weight = weight;
_mc_throttle_weight = weight;
} else {
// at low speeds give full weight to mc
_mc_roll_weight = 1.0f;