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Renamed variable and added new setting nav_fw_pitch2thr_threshold

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This commit is contained in:
Airwide 2020-09-06 10:10:06 +02:00
parent 9ef10703de
commit a1c7149414
5 changed files with 18 additions and 11 deletions
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18
src/main/navigation/navigation_fixedwing.c
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@ -463,18 +463,16 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
int16_t fixedWingPitchToThrottleCorrection(int16_t pitch)
{
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;
if (pitch > navConfig()->fw.pitch_to_throttle_thresh) {
// Positive pitch above threshold
return DECIDEGREES_TO_DEGREES(pitch - navConfig()->fw.pitch_to_throttle_thresh) * 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 if (pitch < -navConfig()->fw.pitch_to_throttle_thresh) {
// Negative pitch below threshold
return DECIDEGREES_TO_DEGREES(pitch + navConfig()->fw.pitch_to_throttle_thresh) * navConfig()->fw.pitch_to_throttle;
}
else {
// Inside deadband
else {
// Inside pitch_to_throttle_thresh deadband. Make no throttle correction.
return 0;
}
}