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Plane: tailsitter start forward transition from initial pitch #16294

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merged 1 commit into from Jan 18, 2021
Merged

Plane: tailsitter start forward transition from initial pitch #16294

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7 changes: 2 additions & 5 deletions ArduPlane/quadplane.cpp
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Expand Up @@ -1903,10 +1903,7 @@ void QuadPlane::update_transition(void)
// in half the transition time
float transition_rate = tailsitter.transition_angle / float(transition_time_ms/2);
uint32_t dt = now - transition_start_ms;
float pitch_cd;
pitch_cd = constrain_float((-transition_rate * dt)*100, -8500, 0);
// if already pitched forward at start of transition, wait until curve catches up
plane.nav_pitch_cd = (pitch_cd > transition_initial_pitch)? transition_initial_pitch : pitch_cd;
plane.nav_pitch_cd = constrain_float(transition_initial_pitch - (transition_rate * dt)*100, -8500, 8500);
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don't you need to take initial pitch into account when calculating the transition rate here?

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sorry, I don't follow?

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Doesn't the transition_rate calculation assume initial pitch is zero?

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We have the true initial pitch in the calculation,transition_initial_pitch

plane.nav_roll_cd = 0;
check_attitude_relax();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
Expand Down Expand Up @@ -2028,7 +2025,7 @@ void QuadPlane::update(void)
*/
transition_state = TRANSITION_ANGLE_WAIT_FW;
transition_start_ms = now;
transition_initial_pitch= constrain_float(ahrs_view->pitch_sensor,-8500,0);
transition_initial_pitch = constrain_float(ahrs_view->pitch_sensor,-8500,8500);
} else {
/*
setup for airspeed wait for later
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