Plane: added fast attitude recovery for inverted flight in Q modes - rebased #29480
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ensures we can recover from inverted flight quickly
when we start the VTOL motor stabilisation with an attitude beyond normal attitude limits we will reset the thrust angle target to give faster recovery
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If I recall correctly I think we were happy with this as a implementation of one approach but we were not sure of the best approach. This still takes the shortest path to level, we may want to do some alternate path such as to prefer rolling to try and minimize aero loads. This also effectively bypasses the accel limits causing a "maximum effort" recovery, the point is that its faster, but it might also be so fast as to break the vehicle. I guess really we can rank methods as a trade off between aggressiveness and speed. Slowest and least aggressive.
Fastest and most aggressive. Which one is best depends on the vehicle and the situation. |
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@priseborough @IamPete1 I've opened a different PR with a quite different approach which is simpler and produces very good results in SITL testing: #29498 |
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@priseborough the test shows height loss of over 17m on recovery with this PR. It shows zero height loss with #29498 |
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I prefer the #29498 approach |
4 participants
Refer to #28320 for discussion and review comments.