Heli: Add Autorotation Flare and Touch Down Phases #28420
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…trained to _collective_land_min_pct. Needed to account for FLT_EPSILON.
MattKear
commented
Oct 16, 2024
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| // Protect against div by 0 case | ||
| if (is_zero(climb_rate + k_1)) { | ||
| climb_rate -= 0.05; |
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something I noticed in the rework/simplification. climb_rate always equals k_1 because of the way k_1 is calculated from rotor drag (CR) and hover thrust. See lines 660 and 650. It was less obvious before because the calc for CR was always called externally to this function.
This means that the denominator in the calc for "a" (line 674) is always this arbitrary -0.05 value.
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This is a very WIP PR that I am opening for some discussion.
It incorporates the flare and touchdown phases.
I have tried to keep changes to other libraries as minimal as possible. I may split those changes out into a separate PR.
This PR depends on #28209, and does contain the commits from that PR.