VTOL standard: introduce scale for FW control surfaces in hover #12946
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…rfaces in hover Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
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Close in favor of #14894 |
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For VTOL in hover, if VT_ELEV_MC_LOCK is set to disabled, the FW control surfaces support the MC motors to control the rates/attitude. The FW control surfaces are controlled over the FW rate controller, which also runs in hover. The tuning of them is thus the same as in FW flight (except some scaling with airspeed, if available).
This PR introduces additional tuning scales for the control surfaces in hover. Both pitch and roll have an additional gain to tune the allocation of FW rate controller output to FW control surface deflection.
Note: other than first planned this PR does not change the subscription of the control surfaces from FW to MC rate controller. This mainly to make the control loops less entangled/ make the architecture simpler.