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VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude #14706

Merged
merged 5 commits into from Apr 28, 2020
Merged

VTOL: Pusher assist: add configuration for enabling it in LAND /disable below some altitude #14706

merged 5 commits into from Apr 28, 2020

Commits on Apr 22, 2020

  1. VTOL type: add new parameter VT_FWD_TRHUST_EN for customizing pusher … 

    …assist in LAND mode

Depending on the setting of this param, the pusher assist is:
-completely disabled
-enabled in pos, alt and auto mode (except LAND)
-enabled in pos, alt and auto mode (except LAND and below MPC_LAND_ALT1
-enabled in pos, alt and auto mode (except LANd and below MPC_LAND_ALT2
-enabled in pos, alt and auto mode
(before it was always disabled in LAND mode)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Apr 22, 2020
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  2. VTOL: update params concerning pusher assist 

    Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Apr 22, 2020
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  3. VTOL: change default of VT_FWD_THRUST_SC from 0 to 0.7 

    Change possible as now the pusher assist is enabled/disabled by VT_FWD_TRHUST_EN,
 wich by defaulot is 0 (disabled pusher assist)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Apr 22, 2020
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  4. VTOL pusher assist: apply altitude thresholds also in other modes tha… 

    …n LAND

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Apr 22, 2020
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  5. VTOL type: make decision pusher assist on/off depending on dist_botto… 

    …m if available

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
    @sfuhrer
    sfuhrer committed Apr 22, 2020
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