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Added deadband to fixedWingPitchToThrottleCorrection for testing

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This commit is contained in:
Airwide 2020-09-05 23:26:34 +02:00
parent 19e882fea3
commit 9ef10703de
1 changed files with 14 additions and 1 deletions
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15
src/main/navigation/navigation_fixedwing.c
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@ -463,7 +463,20 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
int16_t fixedWingPitchToThrottleCorrection(int16_t pitch)
{
return DECIDEGREES_TO_DEGREES(pitch) * navConfig()->fw.pitch_to_throttle;
const int16_t pitch_to_throttle_deadband = 30;
if (pitch > pitch_to_throttle_deadband) {
// Above positive pitch deadband
return DECIDEGREES_TO_DEGREES(pitch - pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
}
else if (pitch < -pitch_to_throttle_deadband) {
// Below negative pitch deadband
return DECIDEGREES_TO_DEGREES(pitch + pitch_to_throttle_deadband) * navConfig()->fw.pitch_to_throttle;
}
else {
// Inside deadband
return 0;
}
}
void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs)