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tiltrotor: improve comments and renaming of one variable

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This is to point out that also rear motor can be used in FW flight and not only the front motors

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-14 10:50:24 +01:00
committed by Roman Bapst
parent 2d009e2e7a
commit b9fab04adb
1 changed files with 6 additions and 5 deletions
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11
src/modules/vtol_att_control/tiltrotor.cpp
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@@ -232,7 +232,7 @@ void Tiltrotor::update_transition_state()
}
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition the rear rotors are enabled
// for the first part of the transition all rotors are enabled
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
@@ -280,17 +280,18 @@ void Tiltrotor::update_transition_state()
_mc_roll_weight = 0.0f;
_mc_yaw_weight = 0.0f;
// ramp down rear motors (setting MAX_PWM down scales the given output into the new range)
int rear_value = (1.0f - time_since_trans_start / _params_tiltrotor.front_trans_dur_p2) *
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;
// ramp down motors not used in fixed-wing flight (setting MAX_PWM down scales the given output into the new range)
int ramp_down_value = (1.0f - time_since_trans_start / _params_tiltrotor.front_trans_dur_p2) *
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;
_motor_state = set_motor_state(_motor_state, motor_state::VALUE, rear_value);
_motor_state = set_motor_state(_motor_state, motor_state::VALUE, ramp_down_value);
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
// turn on all MC motors
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}