Map transition tilt from throttle to handle THR_MIN and THR_MAX

ArduPilot · May 29, 2024 · 7a405a0 · 7a405a0
1 parent 1d810bf
commit 7a405a0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ArduPlane/tiltrotor.cpp b/ArduPlane/tiltrotor.cpp
@@ -325,8 +325,8 @@ void Tiltrotor::continuous_update(void)
         // Q_TILT_MAX. Anything above 50% throttle gets
         // Q_TILT_MAX. Below 50% throttle we decrease linearly. This
         // relies heavily on Q_VFWD_GAIN being set appropriately.
-       float settilt = constrain_float((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)-MAX(plane.aparm.throttle_min.get(),0)) * 0.02, 0, 1);
-       slew(MIN(settilt * max_angle_deg * (1/90.0), get_forward_flight_tilt())); 
+       float settilt = constrain_float(((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)-MAX(plane.aparm.throttle_min.get(),0))*2) / (MIN(plane.aparm.throttle_max.get(),100) - MAX(plane.aparm.throttle_min.get(),0)), 0, 1);
+       slew(MIN(settilt * max_angle_deg * (1/90.0), get_forward_flight_tilt()));
     }
 }