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Plane: Attitude stall prevention adjustments #29092

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Merged
merged 1 commit into from
Mar 12, 2025
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Plane: Attitude stall prevention adjustments #29092

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9 changes: 7 additions & 2 deletions ArduPlane/Attitude.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -659,7 +659,12 @@ void Plane::update_load_factor(void)
}
#endif

float max_load_factor = sq(smoothed_airspeed / MAX(aparm.airspeed_min, 1));
float stall_airspeed_1g = is_positive(aparm.airspeed_stall)
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Suggested change
float stall_airspeed_1g = is_positive(aparm.airspeed_stall)
const float stall_airspeed_1g = is_positive(aparm.airspeed_stall)

? aparm.airspeed_stall
: aparm.airspeed_min;

float max_load_factor =
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Suggested change
float max_load_factor =
const float max_load_factor =

sq(smoothed_airspeed / MAX(stall_airspeed_1g, 1));

if (max_load_factor <= 1) {
// our airspeed is below the minimum airspeed. Limit roll to
Expand All @@ -671,7 +676,7 @@ void Plane::update_load_factor(void)
// load limit. Limit our roll to a bank angle that will keep
// the load within what the airframe can handle. We always
// allow at least 25 degrees of roll however, to ensure the
// aircraft can be manoeuvred with a bad airspeed estimate. At
// aircraft can be manoeuvered with a bad airspeed estimate. At
// 25 degrees the load factor is 1.1 (10%)
int32_t roll_limit = degrees(acosf(1.0f / max_load_factor))*100;
if (roll_limit < 2500) {
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2 changes: 1 addition & 1 deletion ArduPlane/Parameters.cpp
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Expand Up @@ -323,7 +323,7 @@ const AP_Param::Info Plane::var_info[] = {

// @Param: AIRSPEED_STALL
// @DisplayName: Stall airspeed
// @Description: If stall prevention is enabled this speed is used to calculate the minimum airspeed while banking. If this is set to 0 then the stall speed is assumed to be the minimum airspeed speed. Typically set slightly higher then true stall speed. Value is as an indicated (calibrated/apparent) airspeed.
// @Description: If stall prevention is enabled this speed is used for its calculations. If set to 0 then AIRSPEED_MIN is used instead. Typically set slightly higher than the true stall speed. Value is as an indicated (calibrated/apparent) airspeed.
// @Units: m/s
// @Range: 5 75
// @User: Standard
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