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Plane: tailsitter: apply gain scailing to Tilts in motors only Qassist

c415-sdk
Iampete1 4 years ago committed by Andrew Tridgell
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54ee2c35fb
commit
c62c19c798
1 changed files with 9 additions and 2 deletions
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  1. 11
      ArduPlane/tailsitter.cpp

11
ArduPlane/tailsitter.cpp
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@ -135,8 +135,15 @@ void QuadPlane::tailsitter_output(void) @@ -135,8 +135,15 @@ void QuadPlane::tailsitter_output(void)
// output tilt motors
if (tailsitter.vectored_hover_gain > 0) {
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft) * tailsitter.vectored_hover_gain);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight) * tailsitter.vectored_hover_gain);
const float hover_throttle = motors->get_throttle_hover();
const float throttle = motors->get_throttle();
float throttle_scaler = tailsitter.throttle_scale_max;
if (is_positive(throttle)) {
throttle_scaler = constrain_float(hover_throttle / throttle, tailsitter.gain_scaling_min, tailsitter.throttle_scale_max);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorLeft) * tailsitter.vectored_hover_gain * throttle_scaler);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, SRV_Channels::get_output_scaled(SRV_Channel::k_tiltMotorRight) * tailsitter.vectored_hover_gain * throttle_scaler);
}
// skip remainder of the function that overwrites plane control surface outputs with copter

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