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@ -33,7 +33,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = { |
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// @DisplayName: Transition time
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// @DisplayName: Transition time
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// @Description: Transition time in milliseconds after minimum airspeed is reached
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// @Description: Transition time in milliseconds after minimum airspeed is reached
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// @Units: ms
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// @Units: ms
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// @Range: 0 30000
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// @Range: 1 30000
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// @User: Advanced
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// @User: Advanced
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AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000), |
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AP_GROUPINFO("TRANSITION_MS", 11, QuadPlane, transition_time_ms, 5000), |
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@ -1527,7 +1527,7 @@ void SLT_Transition::update() |
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transition_low_airspeed_ms = 0; |
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transition_low_airspeed_ms = 0; |
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gcs().send_text(MAV_SEVERITY_INFO, "Transition done"); |
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gcs().send_text(MAV_SEVERITY_INFO, "Transition done"); |
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} |
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} |
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float trans_time_ms = (float)quadplane.transition_time_ms.get(); |
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float trans_time_ms = MAX((float)quadplane.transition_time_ms.get(),1); |
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float transition_scale = (trans_time_ms - transition_timer_ms) / trans_time_ms; |
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float transition_scale = (trans_time_ms - transition_timer_ms) / trans_time_ms; |
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float throttle_scaled = last_throttle * transition_scale; |
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float throttle_scaled = last_throttle * transition_scale; |
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