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Copter: collective ramp for mode transitions

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This commit is contained in:
Ferruccio Vicari
2026-01-08 05:48:51 -05:00
committed by Bill Geyer
parent 33d84666de
commit eabf2aab5e
2 changed files with 7 additions and 9 deletions
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ArduCopter/heli.cpp
+1 -1
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@@ -16,7 +16,7 @@ void Copter::heli_init()
{
// pre-load stab col values as mode is initialized as Stabilize, but stabilize_init() function is not run on start-up.
input_manager.set_use_stab_col(true);
input_manager.set_stab_col_ramp(1.0);
input_manager.set_collective_ramp(0);
}
// heli_check_dynamic_flight - updates the dynamic_flight flag based on our horizontal velocity
ArduCopter/mode.cpp
+6 -8
View File
@@ -443,15 +443,13 @@ void Copter::exit_mode(Mode *&old_flightmode,
motors->set_acro_tail(false);
}
//last collective output
input_manager.set_last_coll_output(motors->get_throttle());
// if we are changing from a mode that did not use manual throttle,
// stab col ramp value should be pre-loaded to the correct value to avoid a twitch
// heli_stab_col_ramp should really only be active switching between Stabilize and Acro modes
if (!old_flightmode->has_manual_throttle()){
if (new_flightmode == &mode_stabilize){
input_manager.set_stab_col_ramp(1.0);
} else if (new_flightmode == &mode_acro){
input_manager.set_stab_col_ramp(0.0);
}
// collective ramp functions should be called to blend the transition
if (new_flightmode->has_manual_throttle()) {
input_manager.set_collective_ramp(1.0);
}
// Make sure inverted flight is disabled if not supported in the new mode