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Plane: Tailsitter: use motor I term for pitch in assist if no surfaces are setup #24913

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Sep 18, 2023
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Plane: Tailsitter: use motor I term for pitch in assist if no surfaces are setup #24913

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20 changes: 16 additions & 4 deletions ArduPlane/tailsitter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -366,20 +366,32 @@ void Tailsitter::output(void)
if (quadplane.option_is_set(QuadPlane::OPTION::TAILSIT_Q_ASSIST_MOTORS_ONLY)) {
// only use motors for Q assist, control surfaces remain under plane control. Zero copter I terms and use plane.
// Smoothly relax to zero so there is no step change in output, must also set limit flags so integrator cannot build faster than the relax.
// Assume there is always roll and pitch control surfaces, otherwise motors only assist should not be set.
// Assume there is always roll control surfaces, otherwise motors only assist should not be set.
const float dt = quadplane.attitude_control->get_dt();
quadplane.attitude_control->get_rate_pitch_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
motors->limit.pitch = true;

// VTOL yaw / FW roll
quadplane.attitude_control->get_rate_yaw_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
motors->limit.yaw = true;

// VTOL and FW pitch
if (_have_elevator || _have_elevon || _have_v_tail) {
// have pitch control surfaces, use them
quadplane.attitude_control->get_rate_pitch_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
motors->limit.pitch = true;
} else {
// no pitch control surfaces, zero plane I terms and use motors
// We skip the outputting to surfaces for this axis from the copter controller but there are none setup
plane.pitchController.reset_I();
}

// VTOL roll / FW yaw
if (_have_rudder || _have_v_tail) {
// there are yaw control surfaces, zero motor I term
quadplane.attitude_control->get_rate_roll_pid().relax_integrator(0.0, dt, AC_ATTITUDE_RATE_RELAX_TC);
motors->limit.roll = true;
} else {
// no yaw control surfaces, zero plane I terms and use motors
// We skip the outputing to surfaces for this axis from the copter controller but there are none setup
// We skip the outputting to surfaces for this axis from the copter controller but there are none setup
plane.yawController.reset_I();
}

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