Automatically pitch down in angle mode when throttle is bellow cruise throttle #3290
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shellixyz
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src/main/flight/pid.c
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| // Automatically pitch down if the throttle is reduced bellow cruise throttle | ||
| if ((axis == FD_PITCH) && STATE(FIXED_WING) && FLIGHT_MODE(ANGLE_MODE)) | ||
| angleTarget += scaleRange(MAX(0, navConfig()->fw.cruise_throttle - rcCommand[THROTTLE]), 0, navConfig()->fw.cruise_throttle - PWM_RANGE_MIN, 0, mixerConfig()->fwMinThrottleDownPitchAngle); |
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Maybe we should move cruise_throttle from navConfig to something more generic since we're now using it outside navigation system?
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| // Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle | ||
| if ((axis == FD_PITCH) && STATE(FIXED_WING) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) | ||
| angleTarget += scaleRange(MAX(0, navConfig()->fw.cruise_throttle - rcCommand[THROTTLE]), 0, navConfig()->fw.cruise_throttle - PWM_RANGE_MIN, 0, mixerConfig()->fwMinThrottleDownPitchAngle); |
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I think we should start thinking about unifying configuration for navigation and other things into "platform configuration". We can have separate airplaneConfig and rotorcraftConfig plus unified platformConfig to keep common values. These structures will hold platform capabilities like max inclination, cruise throttle, hover throttle, reference airspeed etc.
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It's definitely out of scope of current PR, but we should really look into it.
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@shellixyz please document it somehow! |
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I added an explanation in the PR description for the moment. I will document it in the wiki when released. |
Inspired by Arduplane STAB_PITCH_DOWN setting.
The
fw_min_throttle_down_pitch(decidegrees) controls the amount of down pitch to add inANGLEmode mode when at low throttle. No down trim is added when throttle is abovenav_fw_cruise_thr. Belownav_fw_cruise_thrdowntrim is added in proportion to the amount the throttle is belownav_fw_cruise_thr. At zero throttle the full down pitch specified in this parameter is added. This parameter is meant to help keep airspeed up when flying inANGLEmode with low throttle, such as when on a landing approach, without relying on an airspeed sensor.Tested, ready to merge.