Plane: tiltrotor: add throttle scaling for vectored yaw #22376
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IamPete1
commented
Dec 10, 2022
| // Scaling yaw with throttle | ||
| const float throttle = motors->get_throttle_out(); | ||
| const float scale_min = 0.5; | ||
| const float scale_max = 2.0; |
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We could change this to 1 for more conservative scaling that would not increase gains at low throttle.
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It is worth noting that these scaling factors were trailed using a lua script on a vehicle with thrust vectoring for yaw and were found to work well for a range of thottles (climbing and descending yaw manouvers in stabilise) so this scaling range does appear appropriate.
IamPete1
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Dec 10, 2022
tridge
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Dec 14, 2022
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Rebased, now using const throttle and requires both tilts to saturate. |
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tridge
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This adds throttle scaling to vectored yaw tilt-rotors. It uses the same scaling method as tailsitters. There scale range is hard coded to the same as the default range for tailsitters (where we have parameters for min and max). So will reduce gains to half at high throttle and double at low throttle. At hover throttle they remain 1 so no change in behavior. We may want to change the max scale factor to 1 so gains are never increased at low throttle, thus making oscillation unlikely. Only yaw is scaled, the roll input used at high tilt angles is not changed.
It also now sets the yaw limit flags if either tilt is at its limit, this prevents I wind up.
https://youtu.be/W760-G-N7_I