Plane: tilt quadplane fixes #28960
Open
Plane: tilt quadplane fixes #28960
+33
−6
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
this copes with a Q_TILT_RATE_DN that is too slow for the configured Q_TRANSITION_MS
use the proportion we have moved the tilt rotors forward for controlling the VTOL throttle in transition. This prevents a too short Q_TRANSITION_MS from causing oscillations in transition
it makes no sense for it to be above AIRSPEED_MIN
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
this fixes some issues with tilt quadplanes.
The first fix is to ensure we don't complete the transition till the rotors are fully tilted forward. The demanded VTOL throttle during the 2nd stage of the transition is also fixed to be based on the tilt angle, not the time.
The 2nd fix is to prevent oscillation of the assisted_flight flag
fixes some of the issues in #28957