Plane: tailsitter rate limit second half of VTOL transition. #19286
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I have found a wacky interaction with the position controller in some cases. |
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funny stuff is there on master too, seems to be related to position controller limits. This is master, It presents as a sharp pitch back and then immediately forward again. |
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I fixed the odd pitch stuff, quadplane was force feeding the position controller velocity targets bypassing the input shaping and velocity limits. The last commit fixes that and uses the |
IamPete1
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rebased |
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Tested on the CAT and H wing in realflight both inverted and normal transitions and QRTL position controller. |
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tridge
approved these changes
Jan 3, 2022
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This now applys a pitch up rate limit to the second half of the transition into VTOL flight. Rather than just pulling up to
Q_TAILSIT_ANG_VTand dumping to the VTOL controller, the pitch up rate is now limited as the sameQ_TAILSIT_RAT_VTthat the first half of the transition is done at. Once the desired pitch angle is larger than the pitch up limit the limit is removed.The limit it applied in all modes, except QACRO.
In addition we now no longer run the Z controller in tailsitter VTOL transition or if the throttle state is not unlimited. We always do a full pitch relax on transition entry (if not in Qassist) and pass the current time to
tailsitter.in_vtol_transitionthat already have the time available in the function, this should reduce the chances of a race condition.The result of these changes are a much smoother transition from the FW pull up to the VTOL flight. You can still see the step as we swap from the FW to VTOL controller, but it is much smoother. This also enables lower
Q_TAILSIT_ANG_VTvalues without a very aggressive pitch up.