这次主要是发现这个参数的说明有点乱:参数列表中是这样说的:
VT_F_TRANS_DUR(FLOAT) Duration of a front transitionComment: Time in seconds used for a transition 。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。 但是操作说明中却是这样说的:感觉像是和这个参数VT_PSHER_RMP_DT搞混了。。。 Forward Transition Duration A forward transition refers to the transition from multirotor to fixed wing mode. This is the amount of time in seconds that should be spent ramping up the throttle to the target value (defined by VT_TRANS_THR). A value of 0 will result in commanding the transition throttle value being set immediately. If you wish to smooth the throttling up you can increase this to a larger value, such as 3. Note that once the ramp up period ends throttle will be at its target setting and will remain there until (hopefully) the transition speed is reached. 。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。 通过查代码,在tiltrotor.c中发现: // tilt rotors forward up to certain angle if (_tilt_control <= _params_tiltrotor.tilt_transition) { _tilt_control = _params_tiltrotor.tilt_mc + fabsf(_params_tiltrotor.tilt_transition - _params_tiltrotor.tilt_mc) * time_since_trans_start / _params->front_trans_duration; } 总结:这个参数应该是倾转旋翼专用的,表示倾转电机由垂直拉力转为水平拉力的时间。
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