ArduPlane:Add safety limit on tailsitter VTOL transition throttle #15794
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IamPete1
requested changes
Nov 12, 2020
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I think this is a fair change, its quite the odd vehicle that would cruise a less throttle than hover, but I guess such a vehicle could exist, or the hover throttle could be wrong as pointed out. |
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Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
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IamPete1
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Nov 12, 2020
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Look good to me, should not make any difference on most vehicles.
Of course were actually forgetting expo in the existing code, we should probably get the expo compensated throttle from motors. That would cause hover throttle to be lower than the value that is actually sent to the motors in hover. But in the transition were using that to output directly to the motors.
That is a existing issue tho
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I suspect #15811 will greatly reduce the need for this, but it wouldn't do any harm to have both I guess. |
tridge
approved these changes
Nov 17, 2020
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This prevents a stall and crash if you transition from FW to VTOL in a tailsitter if the hover throttle is too low, either due to initial setup being wrong, battery compensation not being setup or improper, or proper hover throttle not being learned yet .
Instead of using only hover throttle as it pulls up into VTOL stance, it will use TRIM_THROTTLE if it is larger (not the usual case). This would help assure the plane keeps "flying" thru the transition to VTOL stance if hover throttle is wrong (too low). (ask me how I know...)
Tested in SITL