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Fix scale application on FW throttle baro compensation #9099

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merged 1 commit into from
Mar 19, 2018
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Fix scale application on FW throttle baro compensation #9099

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2 changes: 1 addition & 1 deletion src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1870,7 +1870,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
if (PX4_ISFINITE(baro.pressure) && PX4_ISFINITE(_parameters.throttle_alt_scale)) {
// scale throttle as a function of sqrt(p0/p) (~ EAS -> TAS at low speeds and altitudes ignoring temperature)
const float eas2tas = sqrtf(MSL_PRESSURE_MILLIBAR / baro.pressure);
const float scale = constrain(eas2tas * _parameters.throttle_alt_scale, 0.9f, 2.0f);
const float scale = constrain((eas2tas - 1.0f) * _parameters.throttle_alt_scale + 1.0f, 1.0f, 2.0f);

throttle_max = constrain(throttle_max * scale, throttle_min, 1.0f);
throttle_cruise = constrain(throttle_cruise * scale, throttle_min + 0.01f, throttle_max - 0.01f);
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2 changes: 1 addition & 1 deletion src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
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Expand Up @@ -98,7 +98,7 @@ PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
* The default value of 0 will disable scaling.
*
* @min 0.0
* @max 2.0
* @max 10.0
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Why 10? Even 2 was questionable.

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As this changes the scale to be applied only on the amount of change the factor required is significantly higher. In our case approximately 3 is required

* @decimal 1
* @increment 0.1
* @group FW L1 Control
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